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  <section id="python-gym-api">
<h1>Python Gym API<a class="headerlink" href="#python-gym-api" title="Permalink to this heading"></a></h1>
<dl class="py class">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym">
<em class="property"><span class="pre">class</span><span class="w"> </span></em><span class="sig-prename descclassname"><span class="pre">isaacgym.gymapi.</span></span><span class="sig-name descname"><span class="pre">Gym</span></span><a class="headerlink" href="#isaacgym.gymapi.Gym" title="Permalink to this definition"></a></dt>
<dd><dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.acquire_actor_root_state_tensor">
<span class="sig-name descname"><span class="pre">acquire_actor_root_state_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.acquire_actor_root_state_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Retrieves buffer for Actor root states.  The buffer has shape (num_actors, 13).
State for each actor root contains position([0:3]), rotation([3:7]), linear velocity([7:10]), and angular velocity([10:13]).</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>GymTensor object containing buffer for actor root states</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.acquire_dof_force_tensor">
<span class="sig-name descname"><span class="pre">acquire_dof_force_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.acquire_dof_force_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Retrieves buffer for DOF forces. One force value per each DOF in simulation.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>GymTensor object containing buffer for DOF forces</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.acquire_dof_state_tensor">
<span class="sig-name descname"><span class="pre">acquire_dof_state_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.acquire_dof_state_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Retrieves Degree-of-Freedom state buffer. Buffer has shape (num_dofs, 2).
Each DOF state contains position and velocity.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>GymTensor object containing buffer for DOF states</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.acquire_force_sensor_tensor">
<span class="sig-name descname"><span class="pre">acquire_force_sensor_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.acquire_force_sensor_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Retrieves buffer for force sensors. The buffer has shape (num_force_sensors, 6).
Each force sensor state has forces (3) and torques (3) data.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>GymTensor object containing buffer for force sensors</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.acquire_jacobian_tensor">
<span class="sig-name descname"><span class="pre">acquire_jacobian_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.acquire_jacobian_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Retrieves buffer information for Jacobian</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – Name of Actor</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>GymTensor object containing buffer for Jacobian</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.acquire_mass_matrix_tensor">
<span class="sig-name descname"><span class="pre">acquire_mass_matrix_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.acquire_mass_matrix_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Retrieves buffer for Mass matrix</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – Name of Actor</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>GymTensor object containing buffer for Mass Matrix</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.acquire_net_contact_force_tensor">
<span class="sig-name descname"><span class="pre">acquire_net_contact_force_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.acquire_net_contact_force_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Retrieves buffer for net contract forces. The buffer has shape (num_rigid_bodies, 3).
Each contact force state contains one value for each X, Y, Z axis.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>GymTensor object containing buffer for net contact forces</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.acquire_particle_state_tensor">
<span class="sig-name descname"><span class="pre">acquire_particle_state_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.acquire_particle_state_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Retrieves buffer for particle states. Flex backend only.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>GymTensor object containing buffer for particle states</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.acquire_pneumatic_pressure_tensor">
<span class="sig-name descname"><span class="pre">acquire_pneumatic_pressure_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.acquire_pneumatic_pressure_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Retrieves buffer for penumatic pressure states. Flex backend only.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>GymTensor object containing buffer for pneumatic pressure</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.acquire_pneumatic_target_tensor">
<span class="sig-name descname"><span class="pre">acquire_pneumatic_target_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.acquire_pneumatic_target_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Retrieves buffer for pneumatic targets. Flex backend only.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>GymTensor object containing buffer for pneumatic targets</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor">
<span class="sig-name descname"><span class="pre">acquire_rigid_body_state_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Retrieves buffer for Rigid body states. The buffer has shape (num_rigid_bodies, 13).
State for each rigid body contains position([0:3]), rotation([3:7]), linear velocity([7:10]), and angular velocity([10:13]).</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>GymTensor object containing buffer for rigid body states</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.add_ground">
<span class="sig-name descname"><span class="pre">add_ground</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">params</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.PlaneParams" title="isaacgym.gymapi.PlaneParams"><span class="pre">PlaneParams</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.add_ground" title="Permalink to this definition"></a></dt>
<dd><p>Adds ground plane to simulation.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.PlaneParams" title="isaacgym.gymapi.PlaneParams"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.PlaneParams</span></code></a>) – Structure of parameters for ground plane</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.add_heightfield">
<span class="sig-name descname"><span class="pre">add_heightfield</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">int16</span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.HeightFieldParams" title="isaacgym.gymapi.HeightFieldParams"><span class="pre">HeightFieldParams</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.add_heightfield" title="Permalink to this definition"></a></dt>
<dd><p>Adds ground heightfield to simulation.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>heightSamples</em>) – Height samples as Int16 array. Column-major order.</p></li>
<li><p><strong>param3</strong> (<code class="xref py py-obj docutils literal notranslate"><span class="pre">carbongym.gymapi.GymHeightFieldParams</span></code>) – Structure of parameters for heightfield</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.add_lines">
<span class="sig-name descname"><span class="pre">add_lines</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#isaacgym.gymapi.Gym.add_lines" title="Permalink to this definition"></a></dt>
<dd><p>Overloaded function.</p>
<ol class="arabic">
<li><p>add_lines(self: Gym, arg0: Viewer, arg1: Env, arg2: int, arg3: numpy.ndarray[float32], arg4: numpy.ndarray[float32]) -&gt; None</p>
<blockquote>
<div><dl class="simple">
<dt>Adds lines to the viewer. Adds lines that start and end on the specified vertices, with the colors defined.</dt><dd><ul class="simple">
<li><p>Each line is defined by a tuple of 6 floats in the vertices array, organized as {p1.x, p1.y, p1.z, p2.x, p2.y, p2.z}, defined in the environment frame.</p></li>
<li><p>Each color is a tuple of 3 floats ranging from [0,1] representing the {r, g, b} spectrum.</p></li>
</ul>
</dd>
<dt>Args:</dt><dd><p>param1 (Viewer): Viewer Handle.
param2 (Env): Environment Handle.
param3 (int): number of lines to draw
param4 (<code class="xref py py-obj docutils literal notranslate"><span class="pre">array</span></code> of float): vertices of the lines. Must be of size at least 6*numLines
param5 (<code class="xref py py-obj docutils literal notranslate"><span class="pre">array</span></code> of float): colors to be applied to the lines. Must be of size at least 3*numLines</p>
</dd>
</dl>
</div></blockquote>
</li>
<li><p>add_lines(self: Gym, arg0: Viewer, arg1: Env, arg2: int, arg3: numpy.ndarray[Vec3], arg4: numpy.ndarray[Vec3]) -&gt; None</p>
<blockquote>
<div><dl class="simple">
<dt>Adds lines to the viewer. Adds lines that start and end on the specified vertices, with the colors defined.</dt><dd><ul class="simple">
<li><p>Each line is defined by a tuple of 6 floats in the vertices array, organized as {p1.x, p1.y, p1.z, p2.x, p2.y, p2.z}, defined in the environment frame.</p></li>
<li><p>Each color is a tuple of 3 floats ranging from [0,1] representing the {r, g, b} spectrum.</p></li>
</ul>
</dd>
<dt>Args:</dt><dd><p>param1 (Viewer): Viewer Handle.
param2 (Env): Environment Handle.
param3 (int): number of lines to draw
param4 (<code class="xref py py-obj docutils literal notranslate"><span class="pre">array</span></code> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>): vertices of the lines. Must be of size at least 2*numLines
param5 (<code class="xref py py-obj docutils literal notranslate"><span class="pre">array</span></code> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>): colors to be applied to the lines. Must be of size at least numLines</p>
</dd>
</dl>
</div></blockquote>
</li>
</ol>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.add_triangle_mesh">
<span class="sig-name descname"><span class="pre">add_triangle_mesh</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">float32</span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">uint32</span><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.TriangleMeshParams" title="isaacgym.gymapi.TriangleMeshParams"><span class="pre">TriangleMeshParams</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.add_triangle_mesh" title="Permalink to this definition"></a></dt>
<dd><p>Adds ground heightfield to simulation.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>heightSamples</em>) – Height samples as Int16 array. Column-major order.</p></li>
<li><p><strong>param3</strong> (<code class="xref py py-obj docutils literal notranslate"><span class="pre">carbongym.gymapi.GymHeightFieldParams</span></code>) – Structure of parameters for heightfield</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.apply_actor_dof_efforts">
<span class="sig-name descname"><span class="pre">apply_actor_dof_efforts</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">float32</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.apply_actor_dof_efforts" title="Permalink to this definition"></a></dt>
<dd><dl class="simple">
<dt>Applies efforts passed as an ordered array to the Degrees of Freedom of an actor.</dt><dd><ul class="simple">
<li><p>If the Degree of Freedom is linear, the effort is a force in Newton.</p></li>
<li><p>If the Degree of Freedom is revolute, the effort is a torque in Nm.</p></li>
</ul>
</dd>
</dl>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_dof_actuation_force_tensor" title="isaacgym.gymapi.Gym.set_dof_actuation_force_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_dof_actuation_force_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>(</strong> (<em>param3</em>) – obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code>) : array containing the efforts for all degrees of freedom of the actor.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if viewer has closed, false otherwise</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.apply_body_force_at_pos">
<span class="sig-name descname"><span class="pre">apply_body_force_at_pos</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rigidHandle</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">force</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">pos</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">space</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.CoordinateSpace" title="isaacgym.gymapi.CoordinateSpace"><span class="pre">CoordinateSpace</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">CoordinateSpace.ENV_SPACE</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.apply_body_force_at_pos" title="Permalink to this definition"></a></dt>
<dd><p>Applies a force at the given position of the selected body for the immediate timestep, in Newtons.
If the force is not at the center-of-mass of the body, a torque will be applied in Nm.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>env</strong> (<em>Env</em>) – Environment</p></li>
<li><p><strong>rigidHandle</strong> (<em>Body</em>) – Rigid body handle</p></li>
<li><p><strong>force</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – force</p></li>
<li><p><strong>pos</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – pos, can be None</p></li>
<li><p><strong>space</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.CoordinateSpace" title="isaacgym.gymapi.CoordinateSpace"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.CoordinateSpace</span></code></a>) – coordinate space of force and position vectors</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.apply_body_forces">
<span class="sig-name descname"><span class="pre">apply_body_forces</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rigidHandle</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">force</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">torque</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">space</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.CoordinateSpace" title="isaacgym.gymapi.CoordinateSpace"><span class="pre">CoordinateSpace</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">CoordinateSpace.ENV_SPACE</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.apply_body_forces" title="Permalink to this definition"></a></dt>
<dd><p>Applies a force and/or torque to the selected body for the immediate timestep, in Newtons and Nm respectively.
The force is applied at the center of mass of the body.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>env</strong> (<em>Env</em>) – Environment</p></li>
<li><p><strong>rigidHandle</strong> (<em>Body</em>) – Rigid body handle</p></li>
<li><p><strong>force</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – force, can be None</p></li>
<li><p><strong>torque</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – torque, can be None</p></li>
<li><p><strong>space</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.CoordinateSpace" title="isaacgym.gymapi.CoordinateSpace"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.CoordinateSpace</span></code></a>) – coordinate space of the force and torque vectors</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.apply_dof_effort">
<span class="sig-name descname"><span class="pre">apply_dof_effort</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.apply_dof_effort" title="Permalink to this definition"></a></dt>
<dd><p>Applies effort on a DOF. If the DOF is prismatic, the effort will be a force in Newtons. If the DOF is revolute, the effort will be a Torque, in Nm.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_dof_actuation_force_tensor" title="isaacgym.gymapi.Gym.set_dof_actuation_force_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_dof_actuation_force_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>DOF</em>) – DOF Handle</p></li>
<li><p><strong>param3</strong> (<em>float</em>) – effort</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.apply_rigid_body_force_at_pos_tensors">
<span class="sig-name descname"><span class="pre">apply_rigid_body_force_at_pos_tensors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">forceTensor</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">posTensor</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">space</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.CoordinateSpace" title="isaacgym.gymapi.CoordinateSpace"><span class="pre">CoordinateSpace</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">CoordinateSpace.ENV_SPACE</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.apply_rigid_body_force_at_pos_tensors" title="Permalink to this definition"></a></dt>
<dd><p>Applies rigid body forces at given positions for the immediate timestep, in Newtons.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>sim</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>forceTensor</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing forces</p></li>
<li><p><strong>posTensor</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing positions, can be None (if None, forces will be applied at CoM)</p></li>
<li><p><strong>space</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.CoordinateSpace" title="isaacgym.gymapi.CoordinateSpace"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.CoordinateSpace</span></code></a>) – Coordinate space of force and torque vectors</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.apply_rigid_body_force_tensors">
<span class="sig-name descname"><span class="pre">apply_rigid_body_force_tensors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">forceTensor</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">torqueTensor</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">space</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.CoordinateSpace" title="isaacgym.gymapi.CoordinateSpace"><span class="pre">CoordinateSpace</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">CoordinateSpace.ENV_SPACE</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.apply_rigid_body_force_tensors" title="Permalink to this definition"></a></dt>
<dd><p>Applies forces and/or torques to rigid bodies for the immediate timestep, in Newtons.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>sim</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>forceTensor</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing forces, can be None</p></li>
<li><p><strong>torqueTensor</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing torques, can be None</p></li>
<li><p><strong>space</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.CoordinateSpace" title="isaacgym.gymapi.CoordinateSpace"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.CoordinateSpace</span></code></a>) – Coordinate space of force and torque vectors</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.attach_camera_to_body">
<span class="sig-name descname"><span class="pre">attach_camera_to_body</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><span class="pre">Transform</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg4</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.CameraFollowMode" title="isaacgym.gymapi.CameraFollowMode"><span class="pre">CameraFollowMode</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.attach_camera_to_body" title="Permalink to this definition"></a></dt>
<dd><p>Attaches Camera to a rigid body</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Camera</em>) – Camera Handle.</p></li>
<li><p><strong>param2</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param3</strong> (<em>Body</em>) – handle to the rigid body</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a>) – transform from rigid body to camera position</p></li>
<li><p><strong>param5</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.CameraFollowMode" title="isaacgym.gymapi.CameraFollowMode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.CameraFollowMode</span></code></a>) – Follow mode. see <a class="reference internal" href="enum_py.html#isaacgym.gymapi.CameraFollowMode" title="isaacgym.gymapi.CameraFollowMode"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.CameraFollowMode</span></code></a></p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.attach_sim">
<span class="sig-name descname"><span class="pre">attach_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.SimType" title="isaacgym.gymapi.SimType"><span class="pre">SimType</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg4</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Sim</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.attach_sim" title="Permalink to this definition"></a></dt>
<dd><p>Attach simulation to USD scene, updates will be saved to USD stage.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>int</em>) – index of CUDA-enabled GPU to be used for simulation.</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – index of GPU to be used for rendering.</p></li>
<li><p><strong>param3</strong> (<cite>isaacgym.gymapi.SimType</cite>) – Type of simulation to be used.</p></li>
<li><p><strong>param4</strong> (<em>string</em>) – Path to root directory of USD scene</p></li>
<li><p><strong>param5</strong> (<em>string</em>) – Filename of USD scene</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Simulation Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Sim</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.begin_aggregate">
<span class="sig-name descname"><span class="pre">begin_aggregate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.begin_aggregate" title="Permalink to this definition"></a></dt>
<dd><p>Creates new aggregate group</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – Maximum number of bodies</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Maximum number of shapes</p></li>
<li><p><strong>param4</strong> (<em>bool</em>) – Flag to enable or disable self collision</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.clear_lines">
<span class="sig-name descname"><span class="pre">clear_lines</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.clear_lines" title="Permalink to this definition"></a></dt>
<dd><p>Clears all lines from the viewer</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_actor">
<span class="sig-name descname"><span class="pre">create_actor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">pose</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><span class="pre">Transform</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">group</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-</span> <span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">filter</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">-</span> <span class="pre">1</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">segmentationId</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">0</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_actor" title="Permalink to this definition"></a></dt>
<dd><p>Creates an Actor from an Asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a>) – transform transform of where the actor will be initially placed</p></li>
<li><p><strong>param4</strong> (<em>str</em>) – name of the actor</p></li>
<li><p><strong>param5</strong> (<em>int</em>) – collision group that actor will be part of. The actor will not collide with anything outside of the same collisionGroup</p></li>
<li><p><strong>param6</strong> (<em>int</em>) – bitwise filter for elements in the same collisionGroup to mask off collision</p></li>
<li><p><strong>param7</strong> (<em>int</em>) – segmentation ID used in segmentation camera sensors</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to actor</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_aggregate">
<span class="sig-name descname"><span class="pre">create_aggregate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_aggregate" title="Permalink to this definition"></a></dt>
<dd><p>Creates aggregate group for actors with CPU pipeline</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>list of Actor</em>) – Actor Handles</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_asset_force_sensor">
<span class="sig-name descname"><span class="pre">create_asset_force_sensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">body_idx</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">local_pose</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><span class="pre">Transform</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">props</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.ForceSensorProperties" title="isaacgym.gymapi.ForceSensorProperties"><span class="pre">ForceSensorProperties</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_asset_force_sensor" title="Permalink to this definition"></a></dt>
<dd><blockquote>
<div><p>Creates a force sensor on a body at the provided position</p>
<dl class="simple">
<dt>Args:</dt><dd><p>asset (Asset): Asset
body_idx (int): Rigid body index
local_pose (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a>): Local pose of the sensor relative to the body
props (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.ForceSensorProperties" title="isaacgym.gymapi.ForceSensorProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ForceSensorProperties</span></code></a>): Force sensor properties (optional)</p>
</dd>
</dl>
</div></blockquote>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p>Force sensor index or -1 on failure.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_box">
<span class="sig-name descname"><span class="pre">create_box</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">width</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">height</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">depth</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><span class="pre">AssetOptions</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Asset</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_box" title="Permalink to this definition"></a></dt>
<dd><p>Creates a box Asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>float</em>) – width of the box (x-axis)</p></li>
<li><p><strong>param3</strong> (<em>float</em>) – height of the box (y-axis)</p></li>
<li><p><strong>param4</strong> (<em>float</em>) – depth of the box (z-axis)</p></li>
<li><p><strong>param5</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AssetOptions</span></code></a>) – asset Options.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_camera_sensor">
<span class="sig-name descname"><span class="pre">create_camera_sensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.CameraProperties" title="isaacgym.gymapi.CameraProperties"><span class="pre">CameraProperties</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_camera_sensor" title="Permalink to this definition"></a></dt>
<dd><p>Creates Camera Sensor on given environment. The properties of the camera sensor are given by camProps. See <a class="reference internal" href="struct_py.html#isaacgym.gymapi.CameraProperties" title="isaacgym.gymapi.CameraProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.CameraProperties</span></code></a>.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.CameraProperties" title="isaacgym.gymapi.CameraProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.CameraProperties</span></code></a>) – properties of the camera sensor</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Camera Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_capsule">
<span class="sig-name descname"><span class="pre">create_capsule</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">radius</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">width</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><span class="pre">AssetOptions</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Asset</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_capsule" title="Permalink to this definition"></a></dt>
<dd><p>Creates a Capsule mesh that extends along the x-axis with its local origin at the center of the capsule</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>float</em>) – capsule radius</p></li>
<li><p><strong>param3</strong> (<em>float</em>) – width of the capsule (x-axis)</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AssetOptions</span></code></a>) – asset Options.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_cloth_grid">
<span class="sig-name descname"><span class="pre">create_cloth_grid</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg4</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Asset</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_cloth_grid" title="Permalink to this definition"></a></dt>
<dd><p>Creates a cloth grid made of particles connected with constraints.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – width of the cloth (x-axis)</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – length of the cloth (y-axis)</p></li>
<li><p><strong>param4</strong> (<em>float</em>) – distance between particles width-wise (x-axis)</p></li>
<li><p><strong>param5</strong> (<em>float</em>) – distance between particles length-wise (y-axis)</p></li>
<li><p><strong>param6</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AssetOptions</span></code></a>) – asset Options.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_env">
<span class="sig-name descname"><span class="pre">create_env</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Env</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_env" title="Permalink to this definition"></a></dt>
<dd><p>Creates one simulation Environment</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – lower bounds of environment space</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – upper bounds of environment space</p></li>
<li><p><strong>param4</strong> (<em>int</em>) – Number of environments to tile in a row</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_performance_timers">
<span class="sig-name descname"><span class="pre">create_performance_timers</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_performance_timers" title="Permalink to this definition"></a></dt>
<dd><p>Creates a set of performance timers that can be queried by the user</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Simulation Timers Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_rigid_body_attractor">
<span class="sig-name descname"><span class="pre">create_rigid_body_attractor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AttractorProperties" title="isaacgym.gymapi.AttractorProperties"><span class="pre">AttractorProperties</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_rigid_body_attractor" title="Permalink to this definition"></a></dt>
<dd><p>Creates an attractor for the selected environment using the properties defined.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AttractorProperties" title="isaacgym.gymapi.AttractorProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AttractorProperties</span></code></a>) – the new properties for the attractor.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Attractor Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_sim">
<span class="sig-name descname"><span class="pre">create_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self:</span> <span class="pre">Gym</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">compute_device:</span> <span class="pre">int</span> <span class="pre">=</span> <span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">graphics_device:</span> <span class="pre">int</span> <span class="pre">=</span> <span class="pre">0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">type:</span> <span class="pre">SimType</span> <span class="pre">=</span> <span class="pre">SimType.SIM_FLEX</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">params:</span> <span class="pre">SimParams</span> <span class="pre">=</span> <span class="pre">&lt;SimParams</span> <span class="pre">object</span> <span class="pre">at</span> <span class="pre">0x7fb9865855e0&gt;</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Sim</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_sim" title="Permalink to this definition"></a></dt>
<dd><p>Allocates which device will simulate and which device will render the scene. Defines the simulation type to be used.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>int</em>) – index of CUDA-enabled GPU to be used for simulation.</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – index of GPU to be used for rendering.</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.SimType" title="isaacgym.gymapi.SimType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SimType</span></code></a>) – Type of simulation to be used.</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.SimParams" title="isaacgym.gymapi.SimParams"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SimParams</span></code></a>) – Simulation parameters.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Simulation Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Sim</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_sphere">
<span class="sig-name descname"><span class="pre">create_sphere</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">radius</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><span class="pre">AssetOptions</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Asset</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_sphere" title="Permalink to this definition"></a></dt>
<dd><p>Creates a sphere Asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>float</em>) – sphere radius</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AssetOptions</span></code></a>) – asset Options.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_tet_grid">
<span class="sig-name descname"><span class="pre">create_tet_grid</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_tet_grid" title="Permalink to this definition"></a></dt>
<dd><p>Overloaded function.</p>
<ol class="arabic">
<li><p>create_tet_grid(self: Gym, arg0: Sim, arg1: SoftMaterial, arg2: int, arg3: int, arg4: int, arg5: float, arg6: float, arg7: float, arg8: float, arg9: bool, arg10: bool, arg11: bool, arg12: bool) -&gt; Asset</p>
<blockquote>
<div><p>Creates a tetrahedral Grid</p>
<dl class="simple">
<dt>Args:</dt><dd><p>param1 (Sim): Simulation Handle.
param2 (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.SoftMaterial" title="isaacgym.gymapi.SoftMaterial"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SoftMaterial</span></code></a>): soft material definitions
param3 (int):  dimx number of tetrahedrons on x-axis
param4 (int):  dimy number of tetrahedrons on y-axis
param5 (int):  dimz number of tetrahedrons on z-axis
param6 (float): spacingx length of tetrahedrons on x-axis
param7 (float): spacingy length of tetrahedrons on y-axis
param8 (float): spacingz length of tetrahedrons on z-axis
param9 (float): density of tetrahedrons
param10 (bool): when true, fixes the base of the box where it is placed.
param11 (bool): when true, fixes the top of the box where it is placed.
param12 (bool): when true, fixes the left side of the box where it is placed.
param13 (bool): when true, fixes the right side of the box where it is placed.
param14 (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AssetOptions</span></code></a>): asset Options.</p>
</dd>
<dt>Returns:</dt><dd><p>Handle: Handle to asset</p>
</dd>
</dl>
</div></blockquote>
</li>
<li><p>create_tet_grid(self: Gym, arg0: Sim, arg1: SoftMaterial, arg2: int, arg3: int, arg4: int, arg5: float, arg6: float, arg7: float, arg8: float, arg9: bool, arg10: bool, arg11: bool, arg12: bool) -&gt; Asset</p>
<blockquote>
<div><p>Creates a tetrahedral Grid</p>
<dl class="simple">
<dt>Args:</dt><dd><p>param1 (Sim): Simulation Handle.
param2 (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.SoftMaterial" title="isaacgym.gymapi.SoftMaterial"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SoftMaterial</span></code></a>): soft material definitions
param3 (int):  dimx number of tetrahedrons on x-axis
param4 (int):  dimy number of tetrahedrons on y-axis
param5 (int):  dimz number of tetrahedrons on z-axis
param6 (float): spacingx length of tetrahedrons on x-axis
param7 (float): spacingy length of tetrahedrons on y-axis
param8 (float): spacingz length of tetrahedrons on z-axis
param9 (float): density of tetrahedrons
param10 (bool): when true, fixes the base of the box where it is placed.
param11 (bool): when true, fixes the top of the box where it is placed.
param12 (bool): when true, fixes the left side of the box where it is placed.
param13 (bool): when true, fixes the right side of the box where it is placed.
param14 (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AssetOptions</span></code></a>): asset Options.</p>
</dd>
<dt>Returns:</dt><dd><p>Handle: Handle to asset</p>
</dd>
</dl>
</div></blockquote>
</li>
</ol>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_texture_from_buffer">
<span class="sig-name descname"><span class="pre">create_texture_from_buffer</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">uint8</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_texture_from_buffer" title="Permalink to this definition"></a></dt>
<dd><p>Loads a texture from an image buffer.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – Width of the texture</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Height of the texture</p></li>
<li><p><strong>param4</strong> (<code class="xref py py-obj docutils literal notranslate"><span class="pre">py::array_t</span></code>) – Texture Buffer</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to the texture or -1 if failure</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_texture_from_file">
<span class="sig-name descname"><span class="pre">create_texture_from_file</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_texture_from_file" title="Permalink to this definition"></a></dt>
<dd><p>Loads a texture from a file.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – filename of the image file containing texture</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to the texture</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_usd_exporter">
<span class="sig-name descname"><span class="pre">create_usd_exporter</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">UsdExportOptions</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">UsdExporter</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_usd_exporter" title="Permalink to this definition"></a></dt>
<dd><p>Destroy USD exporter</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.UsdExportOptions</span></code>) – USD Exporter Options</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to Exporter</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.create_viewer">
<span class="sig-name descname"><span class="pre">create_viewer</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.CameraProperties" title="isaacgym.gymapi.CameraProperties"><span class="pre">CameraProperties</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Viewer</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.create_viewer" title="Permalink to this definition"></a></dt>
<dd><p>Creates a viewer for the simulation.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.CameraProperties" title="isaacgym.gymapi.CameraProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.CameraProperties</span></code></a>) – Camera properties for default camera in viewer</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.debug_print_asset">
<span class="sig-name descname"><span class="pre">debug_print_asset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">asset</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">outpath</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.debug_print_asset" title="Permalink to this definition"></a></dt>
<dd><p>Outputs assets properties of asset to std out or to file.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Asset</span></code>) – Asset</p></li>
<li><p><strong>param2</strong> (<em>string</em>) – Output file path</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.destroy_camera_sensor">
<span class="sig-name descname"><span class="pre">destroy_camera_sensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.destroy_camera_sensor" title="Permalink to this definition"></a></dt>
<dd><p>Destroys all data referring to given camera sensor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>Camera</em>) – Handle to the camera</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.destroy_env">
<span class="sig-name descname"><span class="pre">destroy_env</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.destroy_env" title="Permalink to this definition"></a></dt>
<dd><p>Deletes an environment and releases memory used from it</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.destroy_performance_timers">
<span class="sig-name descname"><span class="pre">destroy_performance_timers</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.destroy_performance_timers" title="Permalink to this definition"></a></dt>
<dd><p>Destroys internal timers</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<em>Timers</em>) – Simulation Timers Handle</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.destroy_sim">
<span class="sig-name descname"><span class="pre">destroy_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.destroy_sim" title="Permalink to this definition"></a></dt>
<dd><p>Cleans up all remaining handles to the simulation</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.destroy_usd_exporter">
<span class="sig-name descname"><span class="pre">destroy_usd_exporter</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">UsdExporter</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.destroy_usd_exporter" title="Permalink to this definition"></a></dt>
<dd><p>Destroy USD exporter</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Exporter</em>) – USD Exporter Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.destroy_viewer">
<span class="sig-name descname"><span class="pre">destroy_viewer</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.destroy_viewer" title="Permalink to this definition"></a></dt>
<dd><p>Closes viewer and destroys its handle</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.draw_env_rigid_contacts">
<span class="sig-name descname"><span class="pre">draw_env_rigid_contacts</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg4</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.draw_env_rigid_contacts" title="Permalink to this definition"></a></dt>
<dd><p>Draw Contact Forces for all Rigid Bodies in an Env.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – contact’s color.</p></li>
<li><p><strong>param3</strong> (<em>float</em>) – scale to draw contact force vectors.</p></li>
<li><p><strong>param4</strong> (<em>float</em>) – apply square root scale when drawing contact force vectors</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.draw_env_soft_contacts">
<span class="sig-name descname"><span class="pre">draw_env_soft_contacts</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg4</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg5</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.draw_env_soft_contacts" title="Permalink to this definition"></a></dt>
<dd><p>Draw Contact Forces for all soft Bodies in an Env.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – contact’s color.</p></li>
<li><p><strong>param3</strong> (<em>float</em>) – scale to draw contact force vectors.</p></li>
<li><p><strong>param4</strong> (<em>bool</em>) – apply square root scale when drawing contact force vectors</p></li>
<li><p><strong>param5</strong> (<em>bool</em>) – force visualization</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.draw_viewer">
<span class="sig-name descname"><span class="pre">draw_viewer</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">viewer</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">render_collision</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.draw_viewer" title="Permalink to this definition"></a></dt>
<dd><p>Renders the viewer</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p></li>
<li><p><strong>param2</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param3</strong> (<em>bool</em>) – renterCollisionMeshes flag to determine if should render the collision meshes instead of display meshes</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.enable_actor_dof_force_sensors">
<span class="sig-name descname"><span class="pre">enable_actor_dof_force_sensors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.enable_actor_dof_force_sensors" title="Permalink to this definition"></a></dt>
<dd><p>Enables DOF force collection for the actor’s degrees of freedom.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>(</strong> (<em>param1</em>) – obj: list of Env): Environment Handles</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>True if DOF force collection is supported for this actor, False otherwise.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.end_access_image_tensors">
<span class="sig-name descname"><span class="pre">end_access_image_tensors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.end_access_image_tensors" title="Permalink to this definition"></a></dt>
<dd><p>Terminates access to image tensors. Releases data from all image tensors to the GPU</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.end_aggregate">
<span class="sig-name descname"><span class="pre">end_aggregate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.end_aggregate" title="Permalink to this definition"></a></dt>
<dd><p>Ends current aggregate group</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.export_usd_asset">
<span class="sig-name descname"><span class="pre">export_usd_asset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">UsdExporter</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.export_usd_asset" title="Permalink to this definition"></a></dt>
<dd><p>Exports asset in USD Format</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Exporter</em>) – USD Exporter Handle</p></li>
<li><p><strong>param2</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – path and file name to save the asset.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.export_usd_sim">
<span class="sig-name descname"><span class="pre">export_usd_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">exporter</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">UsdExporter</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">name</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">dirName</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">object</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.export_usd_sim" title="Permalink to this definition"></a></dt>
<dd><p>Exports simulation in USD Format</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.UsdExporter</span></code>) – USD Exporter Handle</p></li>
<li><p><strong>param2</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – path and file name to save the asset.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: map to transforms : returns none if failed</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.fetch_results">
<span class="sig-name descname"><span class="pre">fetch_results</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.fetch_results" title="Permalink to this definition"></a></dt>
<dd><p>Populates Host buffers for the simulation from Device values</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<em>bool</em>) – flags if should wait for latest simulation step to complete.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_actor_actuator_index">
<span class="sig-name descname"><span class="pre">find_actor_actuator_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_actor_actuator_index" title="Permalink to this definition"></a></dt>
<dd><p>Gets the index of a named actuator of the actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – Name of the actuator</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the actuator</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_actor_dof_handle">
<span class="sig-name descname"><span class="pre">find_actor_dof_handle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_actor_dof_handle" title="Permalink to this definition"></a></dt>
<dd><p>Finds actor Degree of Freedom handle given its name</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle.</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – name of DOF</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>DOF Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_actor_dof_index">
<span class="sig-name descname"><span class="pre">find_actor_dof_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><span class="pre">IndexDomain</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_actor_dof_index" title="Permalink to this definition"></a></dt>
<dd><p>Find the array index of a named degree-of-freedom.
Use domain eActorDomain to get an index into arrays returned by functions like
<a class="reference internal" href="#isaacgym.gymapi.Gym.get_actor_dof_states" title="isaacgym.gymapi.Gym.get_actor_dof_states"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.get_actor_dof_states</span></code></a> or <a class="reference internal" href="#isaacgym.gymapi.Gym.get_actor_dof_properties" title="isaacgym.gymapi.Gym.get_actor_dof_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.get_actor_dof_properties</span></code></a>.
Currently, the other domains are not useful, because there is no API for dealing with DOFs at the env or sim level.
This may change in the future.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle.</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – Name of the DOF</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.IndexDomain</span></code></a>) – determines which state buffer to get the index for (env or sim).</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the DOF in the specified domain</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_actor_fixed_tendon_joint_index">
<span class="sig-name descname"><span class="pre">find_actor_fixed_tendon_joint_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_actor_fixed_tendon_joint_index" title="Permalink to this definition"></a></dt>
<dd><p>Gets the name of a joint in a fixed tendon of an actor at the indexes provided</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>The order of joints in an actor tendon may differ from the order in the asset.</p>
</div>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Index of the tendon</p></li>
<li><p><strong>param4</strong> (<em>str</em>) – Name of the joint</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the joint, or -1 if not found</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_actor_handle">
<span class="sig-name descname"><span class="pre">find_actor_handle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_actor_handle" title="Permalink to this definition"></a></dt>
<dd><p>Gets handle for an actor, given its name</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – name of actor</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to actor</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_actor_index">
<span class="sig-name descname"><span class="pre">find_actor_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><span class="pre">IndexDomain</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_actor_index" title="Permalink to this definition"></a></dt>
<dd><p>Gets index of actor in domain from actor name</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – Actor Name</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.IndexDomain</span></code></a>) – Simulation, Environment, or Actor domain</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Actor Index</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_actor_joint_handle">
<span class="sig-name descname"><span class="pre">find_actor_joint_handle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_actor_joint_handle" title="Permalink to this definition"></a></dt>
<dd><p>Finds actor Joint handle given its name</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle.</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – joint name</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Joint Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_actor_joint_index">
<span class="sig-name descname"><span class="pre">find_actor_joint_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><span class="pre">IndexDomain</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_actor_joint_index" title="Permalink to this definition"></a></dt>
<dd><p>Use this function to find the array index of a named joint.
Currently, this function is not useful, because there is no API for dealing with joint arrays.  This may change in the future.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle.</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – name of the joint.</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.IndexDomain</span></code></a>) – determines which state buffer to get the index for (env or sim).</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the joint in the specified domain</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_actor_rigid_body_handle">
<span class="sig-name descname"><span class="pre">find_actor_rigid_body_handle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_actor_rigid_body_handle" title="Permalink to this definition"></a></dt>
<dd><p>Finds actor rigid body handle given its name</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – name of the rigid body.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Rigid Body Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_actor_rigid_body_index">
<span class="sig-name descname"><span class="pre">find_actor_rigid_body_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><span class="pre">IndexDomain</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_actor_rigid_body_index" title="Permalink to this definition"></a></dt>
<dd><p>Use this function to find the index of a rigid body in a state buffer.</p>
<ul class="simple">
<li><p>Use domain DOMAIN_ENV to get an index into the state buffer returned by <a class="reference internal" href="#isaacgym.gymapi.Gym.get_env_rigid_body_states" title="isaacgym.gymapi.Gym.get_env_rigid_body_states"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.get_env_rigid_body_states</span></code></a>.</p></li>
<li><p>Use domain DOMAIN_SIM to get an index into the state buffer returned by <a class="reference internal" href="#isaacgym.gymapi.Gym.get_sim_rigid_body_states" title="isaacgym.gymapi.Gym.get_sim_rigid_body_states"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.get_sim_rigid_body_states</span></code></a>.</p></li>
<li><p>Use domain DOMAIN_ACTOR to get an index into the state buffer returned by <a class="reference internal" href="#isaacgym.gymapi.Gym.get_actor_rigid_body_states" title="isaacgym.gymapi.Gym.get_actor_rigid_body_states"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.get_actor_rigid_body_states</span></code></a></p></li>
<li><p>Use domain DOMAIN_ACTOR to get an index into the property buffer returned by <a class="reference internal" href="#isaacgym.gymapi.Gym.get_actor_rigid_body_properties" title="isaacgym.gymapi.Gym.get_actor_rigid_body_properties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.get_actor_rigid_body_properties</span></code></a>.</p></li>
</ul>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – name of the rigid body.</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.IndexDomain</span></code></a>) – determines which state buffer to get the index for (env or sim).</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the rigid body in the specified domain</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_actor_tendon_index">
<span class="sig-name descname"><span class="pre">find_actor_tendon_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_actor_tendon_index" title="Permalink to this definition"></a></dt>
<dd><p>Gets the index of a named tendon of the actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – Name of the tendon</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the tendon</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_asset_actuator_index">
<span class="sig-name descname"><span class="pre">find_asset_actuator_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_asset_actuator_index" title="Permalink to this definition"></a></dt>
<dd><p>Gets the index of a named actuator in the asset’s actuator array</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – name of the actuator</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the actuator</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_asset_dof_index">
<span class="sig-name descname"><span class="pre">find_asset_dof_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_asset_dof_index" title="Permalink to this definition"></a></dt>
<dd><p>Gets the index of a named degree-of-freedom in the asset’s DOF array</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – name of the DOF</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the DOF</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_asset_joint_index">
<span class="sig-name descname"><span class="pre">find_asset_joint_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_asset_joint_index" title="Permalink to this definition"></a></dt>
<dd><p>Gets the index of a named joint in the asset’s joint array</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – name of the joint</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the joint</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_asset_rigid_body_index">
<span class="sig-name descname"><span class="pre">find_asset_rigid_body_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_asset_rigid_body_index" title="Permalink to this definition"></a></dt>
<dd><p>Gets the index of a named rigid body in the asset’s body array</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – name of the rigid body</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the rigid body</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.find_asset_tendon_index">
<span class="sig-name descname"><span class="pre">find_asset_tendon_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.find_asset_tendon_index" title="Permalink to this definition"></a></dt>
<dd><p>Gets the index of a named tendon in the asset’s tendon array</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – name of the tendon</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the tendon</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.free_texture">
<span class="sig-name descname"><span class="pre">free_texture</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.free_texture" title="Permalink to this definition"></a></dt>
<dd><p>releases texture data from memory</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>Texture</em>) – Texture handle to free.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_actuator_count">
<span class="sig-name descname"><span class="pre">get_actor_actuator_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_actuator_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets number of actuators for an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of actuators in actor</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_actuator_joint_name">
<span class="sig-name descname"><span class="pre">get_actor_actuator_joint_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_actuator_joint_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the name of an actuator for an actor at the index provided</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Index of the actuator</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of actuator in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_actuator_name">
<span class="sig-name descname"><span class="pre">get_actor_actuator_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_actuator_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the name of an actuator for an actor at the index provided</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Index of the actuator</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of actuator in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_actuator_properties">
<span class="sig-name descname"><span class="pre">get_actor_actuator_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">ActuatorProperties</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_actuator_properties" title="Permalink to this definition"></a></dt>
<dd><p>Gets an array of actuator properties for an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>array containing <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ActuatorProperties</span></code> structure</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">array</span></code> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ActuatorProperties</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_asset">
<span class="sig-name descname"><span class="pre">get_actor_asset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Asset</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_asset" title="Permalink to this definition"></a></dt>
<dd><p>Gets Asset for an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Asset Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_count">
<span class="sig-name descname"><span class="pre">get_actor_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets number of actors in an environment</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of actors in environment</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_dof_count">
<span class="sig-name descname"><span class="pre">get_actor_dof_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_dof_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets number of Degree of Freedom for an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of DOFs in actor</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_dof_dict">
<span class="sig-name descname"><span class="pre">get_actor_dof_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_dof_dict" title="Permalink to this definition"></a></dt>
<dd><p>maps degree of freedom names to actor-relative indices</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>dict</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code> : dictionary of actor degree of freedom names</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_dof_forces">
<span class="sig-name descname"><span class="pre">get_actor_dof_forces</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">float32</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_dof_forces" title="Permalink to this definition"></a></dt>
<dd><dl class="simple">
<dt>Gets forces for the actor’s degrees of freedom.</dt><dd><ul class="simple">
<li><p>If the Degree of Freedom is linear, the force is a force in Newtons.</p></li>
<li><p>If the Degree of Freedom is revolute, the force is a torque in Nm.</p></li>
</ul>
</dd>
</dl>
<p>The returned values depend on the dof_force_sensor_mode specified in AssetOptions.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_dof_force_tensor" title="isaacgym.gymapi.Gym.acquire_dof_force_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_dof_force_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>(</strong> (<em>param1</em>) – obj: list of Env): Environment Handles</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code> : array of DOF forces</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_dof_frames">
<span class="sig-name descname"><span class="pre">get_actor_dof_frames</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofFrame" title="isaacgym.gymapi.DofFrame"><span class="pre">DofFrame</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_dof_frames" title="Permalink to this definition"></a></dt>
<dd><p>Gets Frames for Degrees of Freedom of actor.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: list of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofFrame" title="isaacgym.gymapi.DofFrame"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.DofFrame</span></code></a> : List of actor dof frames</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_dof_handle">
<span class="sig-name descname"><span class="pre">get_actor_dof_handle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_dof_handle" title="Permalink to this definition"></a></dt>
<dd><p>Gets number of Degree of Freedom for an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle.</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – index of DOF</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>DOF Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_dof_index">
<span class="sig-name descname"><span class="pre">get_actor_dof_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><span class="pre">IndexDomain</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_dof_index" title="Permalink to this definition"></a></dt>
<dd><p>Currently, this function is not useful, because there is no API for dealing with DOF arrays at the env or sim level.
This may change in the future.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle.</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Index of the DOF</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.IndexDomain</span></code></a>) – determines which state buffer to get the index for (env or sim).</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle of the DOF in the specified domain</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_dof_names">
<span class="sig-name descname"><span class="pre">get_actor_dof_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_dof_names" title="Permalink to this definition"></a></dt>
<dd><p>Gets names of all degrees of freedom on actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code> : list of actor degree of freedon names</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_dof_position_targets">
<span class="sig-name descname"><span class="pre">get_actor_dof_position_targets</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">float32</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_dof_position_targets" title="Permalink to this definition"></a></dt>
<dd><blockquote>
<div><p>Gets target position for the actor’s degrees of freedom. if the joint is prismatic, the target is in meters. if the joint is revolute, the target is in radians.</p>
</div></blockquote>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code> : array of position targets</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_dof_properties">
<span class="sig-name descname"><span class="pre">get_actor_dof_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray[carb::gym::GymDofProperties]</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_dof_properties" title="Permalink to this definition"></a></dt>
<dd><p>Gets properties for all Dofs on an actor.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>A structured Numpy array of DOF properties.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_dof_states">
<span class="sig-name descname"><span class="pre">get_actor_dof_states</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofState" title="isaacgym.gymapi.DofState"><span class="pre">DofState</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_dof_states" title="Permalink to this definition"></a></dt>
<dd><blockquote>
<div><p>Gets state for the actor’s degrees of freedom. see <a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofState" title="isaacgym.gymapi.DofState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.DofState</span></code></a></p>
</div></blockquote>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – flags for the state to update, can be velocities (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_VEL" title="isaacgym.gymapi.STATE_VEL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_VEL</span></code></a>), positions(<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_POS" title="isaacgym.gymapi.STATE_POS"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_POS</span></code></a>) or both (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_ALL" title="isaacgym.gymapi.STATE_ALL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_ALL</span></code></a>)</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: list of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofState" title="isaacgym.gymapi.DofState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.DofState</span></code></a> : array of states</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_dof_velocity_targets">
<span class="sig-name descname"><span class="pre">get_actor_dof_velocity_targets</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">float32</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_dof_velocity_targets" title="Permalink to this definition"></a></dt>
<dd><blockquote>
<div><p>Gets target velocities for the actor’s degrees of freedom. if the joint is prismatic, the target is in m/s. if the joint is revolute, the target is in rad/s.</p>
</div></blockquote>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>(</strong> (<em>param1</em>) – obj: list of Env): Environment Handles</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code> : array of velocity targets</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_fixed_tendon_joint_coefficients">
<span class="sig-name descname"><span class="pre">get_actor_fixed_tendon_joint_coefficients</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_fixed_tendon_joint_coefficients" title="Permalink to this definition"></a></dt>
<dd><p>Gets an array of tendon joint coefficients for the given actor and tendon index</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – index of tendon to get joint coefficients of</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>array containing <code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code> coefficients</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">array</span></code> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_fixed_tendon_joint_name">
<span class="sig-name descname"><span class="pre">get_actor_fixed_tendon_joint_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_fixed_tendon_joint_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the name of a joint in a fixed tendon of an actor at the indexes provided.</p>
<div class="admonition note">
<p class="admonition-title">Note</p>
<p>The order of joints in an actor tendon may differ from the order in the asset.</p>
</div>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Index of the tendon</p></li>
<li><p><strong>param4</strong> (<em>int</em>) – Index of the joint</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of joint in fixed tendon of actor</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_force_sensor">
<span class="sig-name descname"><span class="pre">get_actor_force_sensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">ForceSensor</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_force_sensor" title="Permalink to this definition"></a></dt>
<dd><p>Gets a force sensor instance for the given actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment</p></li>
<li><p><strong>param2</strong> (<em>Handle</em>) – Actor handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Force sensor index</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>the force sensor instance or None on failure.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ForceSensor</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_force_sensor_count">
<span class="sig-name descname"><span class="pre">get_actor_force_sensor_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_force_sensor_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets number of force sensors in the specified actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment</p></li>
<li><p><strong>param2</strong> (<em>Handle</em>) – Actor handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Number of sensors</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_handle">
<span class="sig-name descname"><span class="pre">get_actor_handle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_handle" title="Permalink to this definition"></a></dt>
<dd><p>Gets handle for an actor, given its index</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – actor index</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to actor</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_index">
<span class="sig-name descname"><span class="pre">get_actor_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><span class="pre">IndexDomain</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_index" title="Permalink to this definition"></a></dt>
<dd><p>Gets index of actor in domain from actor handle</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.IndexDomain</span></code></a>) – Simulation, Environment, or Actor domain</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Actor Index</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_joint_count">
<span class="sig-name descname"><span class="pre">get_actor_joint_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_joint_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets number of joints for an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of joints in actor</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_joint_dict">
<span class="sig-name descname"><span class="pre">get_actor_joint_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_joint_dict" title="Permalink to this definition"></a></dt>
<dd><p>maps joint names to actor-relative indices</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>dict</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code> : dictionary of actor joint names</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_joint_handle">
<span class="sig-name descname"><span class="pre">get_actor_joint_handle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_joint_handle" title="Permalink to this definition"></a></dt>
<dd><p>Gets actor joint handle given its index</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle.</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – index of joint</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Joint Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_joint_index">
<span class="sig-name descname"><span class="pre">get_actor_joint_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><span class="pre">IndexDomain</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_joint_index" title="Permalink to this definition"></a></dt>
<dd><p>Get the array index of a named joint
Currently, this function is not useful, because there is no API for dealing with joint arrays.  This may change in the future.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle.</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – index of joint</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.IndexDomain</span></code></a>) – determines which state buffer to get the index for (env or sim).</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the joint in the specified domain</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_joint_names">
<span class="sig-name descname"><span class="pre">get_actor_joint_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_joint_names" title="Permalink to this definition"></a></dt>
<dd><p>Gets names of all joints on actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code> : list of actor joint names</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_joint_transforms">
<span class="sig-name descname"><span class="pre">get_actor_joint_transforms</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><span class="pre">Transform</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_joint_transforms" title="Permalink to this definition"></a></dt>
<dd><p>Gets Transforms for Joints on actor.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: list of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a> : List of actor joint transforms</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_name">
<span class="sig-name descname"><span class="pre">get_actor_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets name of actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Actor Name</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_rigid_body_count">
<span class="sig-name descname"><span class="pre">get_actor_rigid_body_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_rigid_body_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets number of rigid bodies for an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of rigid bodies in actor</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_rigid_body_dict">
<span class="sig-name descname"><span class="pre">get_actor_rigid_body_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_rigid_body_dict" title="Permalink to this definition"></a></dt>
<dd><p>maps rigid body names to actor-relative indices</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>dict</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code> : dictionary of actor rigid body names</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_rigid_body_handle">
<span class="sig-name descname"><span class="pre">get_actor_rigid_body_handle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_rigid_body_handle" title="Permalink to this definition"></a></dt>
<dd><p>Gets actor rigid body handle given its index</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Rigid Body Index</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Rigid Body Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_rigid_body_index">
<span class="sig-name descname"><span class="pre">get_actor_rigid_body_index</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><span class="pre">IndexDomain</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_rigid_body_index" title="Permalink to this definition"></a></dt>
<dd><p>Use this function to get the index of a rigid body in a state buffer.</p>
<ul class="simple">
<li><p>Use domain DOMAIN_ENV to get an index into the state buffer returned by <a class="reference internal" href="#isaacgym.gymapi.Gym.get_env_rigid_body_states" title="isaacgym.gymapi.Gym.get_env_rigid_body_states"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.get_env_rigid_body_states</span></code></a>.</p></li>
<li><p>Use domain DOMAIN_SIM to get an index into the state buffer returned by <a class="reference internal" href="#isaacgym.gymapi.Gym.get_sim_rigid_body_states" title="isaacgym.gymapi.Gym.get_sim_rigid_body_states"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.get_sim_rigid_body_states</span></code></a>.</p></li>
</ul>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – index of the rigid body in the actor rigid body array.</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.IndexDomain" title="isaacgym.gymapi.IndexDomain"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.IndexDomain</span></code></a>) – determines which state buffer to get the index for (env or sim).</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>index of the rigid body in the specified domain</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_rigid_body_names">
<span class="sig-name descname"><span class="pre">get_actor_rigid_body_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_rigid_body_names" title="Permalink to this definition"></a></dt>
<dd><p>Gets names of all rigid bodies on actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code> : list of actor rigid body names</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_rigid_body_properties">
<span class="sig-name descname"><span class="pre">get_actor_rigid_body_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyProperties" title="isaacgym.gymapi.RigidBodyProperties"><span class="pre">RigidBodyProperties</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_rigid_body_properties" title="Permalink to this definition"></a></dt>
<dd><p>Gets properties for rigid bodies in an actor on selected environment.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyProperties" title="isaacgym.gymapi.RigidBodyProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyProperties</span></code></a> : list of rigid body properties</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_rigid_body_shape_indices">
<span class="sig-name descname"><span class="pre">get_actor_rigid_body_shape_indices</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.IndexRange" title="isaacgym.gymapi.IndexRange"><span class="pre">IndexRange</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_rigid_body_shape_indices" title="Permalink to this definition"></a></dt>
<dd><p>Maps actor body shapes to index ranges in shape array</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.IndexRange" title="isaacgym.gymapi.IndexRange"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.IndexRange</span></code></a> : indices</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_rigid_body_states">
<span class="sig-name descname"><span class="pre">get_actor_rigid_body_states</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><span class="pre">RigidBodyState</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_rigid_body_states" title="Permalink to this definition"></a></dt>
<dd><p>Gets state for the actors’s Rigid Bodies. see <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyState</span></code></a>.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – flags for the state to obtain, can be velocities (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_VEL" title="isaacgym.gymapi.STATE_VEL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_VEL</span></code></a>), positions(<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_POS" title="isaacgym.gymapi.STATE_POS"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_POS</span></code></a>) or both (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_ALL" title="isaacgym.gymapi.STATE_ALL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_ALL</span></code></a>)</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: list of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyState</span></code></a> : List of rigid body states</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_rigid_shape_count">
<span class="sig-name descname"><span class="pre">get_actor_rigid_shape_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_rigid_shape_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets count of actor shapes</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of shapes in actor</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_rigid_shape_properties">
<span class="sig-name descname"><span class="pre">get_actor_rigid_shape_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidShapeProperties" title="isaacgym.gymapi.RigidShapeProperties"><span class="pre">RigidShapeProperties</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_rigid_shape_properties" title="Permalink to this definition"></a></dt>
<dd><p>Gets properties for rigid shapes in an actor on selected environment.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidShapeProperties" title="isaacgym.gymapi.RigidShapeProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidShapeProperties</span></code></a> : list of rigid shape properties</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_root_rigid_body_handle">
<span class="sig-name descname"><span class="pre">get_actor_root_rigid_body_handle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_root_rigid_body_handle" title="Permalink to this definition"></a></dt>
<dd><p>Get the handle of the root rigid body of an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Root Rigid Body Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_scale">
<span class="sig-name descname"><span class="pre">get_actor_scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_scale" title="Permalink to this definition"></a></dt>
<dd><p>Gets the scale of the actor.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>The current scale factor of the actor.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_soft_body_count">
<span class="sig-name descname"><span class="pre">get_actor_soft_body_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_soft_body_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets number of soft bodies for an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of soft bodies in actor</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_soft_materials">
<span class="sig-name descname"><span class="pre">get_actor_soft_materials</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.SoftMaterial" title="isaacgym.gymapi.SoftMaterial"><span class="pre">SoftMaterial</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_soft_materials" title="Permalink to this definition"></a></dt>
<dd><p>Gets properties for all soft materials on an actor.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SoftMaterials</span></code>: Array of soft materials</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_tendon_count">
<span class="sig-name descname"><span class="pre">get_actor_tendon_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_tendon_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets number of tendons for an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of tendons in actor</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_tendon_name">
<span class="sig-name descname"><span class="pre">get_actor_tendon_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_tendon_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the name of a tendon for an actor at the index provided</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Index of the tendon</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of tendon in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_tendon_offset">
<span class="sig-name descname"><span class="pre">get_actor_tendon_offset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_tendon_offset" title="Permalink to this definition"></a></dt>
<dd><p>Gets the length offset of a tendon of an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Index of the tendon</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Tendon offset or FLOAT_MAX if invalid handles/indices provided</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>float</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_tendon_properties">
<span class="sig-name descname"><span class="pre">get_actor_tendon_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">TendonProperties</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_tendon_properties" title="Permalink to this definition"></a></dt>
<dd><p>Gets an array of tendon properties for an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>array containing <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.TendonProperties</span></code> structure</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">array</span></code> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.TendonProperties</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_tetrahedra_range">
<span class="sig-name descname"><span class="pre">get_actor_tetrahedra_range</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.IndexRange" title="isaacgym.gymapi.IndexRange"><span class="pre">IndexRange</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_tetrahedra_range" title="Permalink to this definition"></a></dt>
<dd><p>Gets the tetrahedra range for a given actor and soft body link</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Index of soft body in this actor</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Range (start, count)</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_actor_triangle_range">
<span class="sig-name descname"><span class="pre">get_actor_triangle_range</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.IndexRange" title="isaacgym.gymapi.IndexRange"><span class="pre">IndexRange</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_actor_triangle_range" title="Permalink to this definition"></a></dt>
<dd><p>Gets the triangle range for a given actor and soft body link</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Index of soft body in this actor</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Range (start, count)</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_actuator_count">
<span class="sig-name descname"><span class="pre">get_asset_actuator_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_actuator_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets the count of actuators on a given asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of actuators in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_actuator_joint_name">
<span class="sig-name descname"><span class="pre">get_asset_actuator_joint_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_actuator_joint_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the name of an actuator of the given asset at the index provided</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – Index of the actuator</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of actuator in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_actuator_name">
<span class="sig-name descname"><span class="pre">get_asset_actuator_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_actuator_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the name of an actuator of the given asset at the index provided</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – Index of the actuator</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of actuator in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_actuator_properties">
<span class="sig-name descname"><span class="pre">get_asset_actuator_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">ActuatorProperties</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_actuator_properties" title="Permalink to this definition"></a></dt>
<dd><p>Gets an array of actuator properties for the given asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>array containing <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ActuatorProperties</span></code> structure</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">array</span></code> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ActuatorProperties</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_dof_count">
<span class="sig-name descname"><span class="pre">get_asset_dof_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_dof_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets the count of Degrees of Freedom on a given asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of degrees of freedom in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_dof_dict">
<span class="sig-name descname"><span class="pre">get_asset_dof_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_dof_dict" title="Permalink to this definition"></a></dt>
<dd><p>Maps dof names to asset-relative indices</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>dictionary containing mapping between dof names and asset relative indices</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">dict</span></code> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_dof_name">
<span class="sig-name descname"><span class="pre">get_asset_dof_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_dof_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the name of the degree of freedom on the given asset at the index provided</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – index of the DOF</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of DOF in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_dof_names">
<span class="sig-name descname"><span class="pre">get_asset_dof_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_dof_names" title="Permalink to this definition"></a></dt>
<dd><p>Get list of asset DOF names</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>list of degree of freedom names in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">list</span></code> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_dof_properties">
<span class="sig-name descname"><span class="pre">get_asset_dof_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray[carb::gym::GymDofProperties]</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_dof_properties" title="Permalink to this definition"></a></dt>
<dd><p>Gets an array of DOF properties for the given asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>A structured Numpy array of DOF properties.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_dof_type">
<span class="sig-name descname"><span class="pre">get_asset_dof_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.DofType" title="isaacgym.gymapi.DofType"><span class="pre">DofType</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_dof_type" title="Permalink to this definition"></a></dt>
<dd><p>Gets the Degree of Freedom type on the given asset at the index provided</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – index of the joint</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>type of degree of freedom</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="enum_py.html#isaacgym.gymapi.DofType" title="isaacgym.gymapi.DofType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.DofType</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_fixed_tendon_joint_coefficients">
<span class="sig-name descname"><span class="pre">get_asset_fixed_tendon_joint_coefficients</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_fixed_tendon_joint_coefficients" title="Permalink to this definition"></a></dt>
<dd><p>Gets an array of tendon joint coefficients for the given asset and tendon index</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – index of tendon to get joint coefficients of</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>array containing <code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code> coefficients</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">array</span></code> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_fixed_tendon_joint_name">
<span class="sig-name descname"><span class="pre">get_asset_fixed_tendon_joint_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_fixed_tendon_joint_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the name of a joint in a fixed tendon of the given asset at the indexes provided</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – Index of the tendon</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Index of the joint</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of joint in fixed tendon in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_joint_count">
<span class="sig-name descname"><span class="pre">get_asset_joint_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_joint_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets the count of joints on the given asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of joints in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_joint_dict">
<span class="sig-name descname"><span class="pre">get_asset_joint_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_joint_dict" title="Permalink to this definition"></a></dt>
<dd><p>Maps joint names to asset-relative indices</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>dictionary containing mapping between joint names and asset relative indices</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">dict</span></code> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_joint_name">
<span class="sig-name descname"><span class="pre">get_asset_joint_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_joint_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the name of the joint on the given asset at the index provided</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – index of the joint</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of joint in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_joint_names">
<span class="sig-name descname"><span class="pre">get_asset_joint_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_joint_names" title="Permalink to this definition"></a></dt>
<dd><p>Get list of asset joint names</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>list of joint names in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">list</span></code> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_joint_type">
<span class="sig-name descname"><span class="pre">get_asset_joint_type</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.JointType" title="isaacgym.gymapi.JointType"><span class="pre">JointType</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_joint_type" title="Permalink to this definition"></a></dt>
<dd><p>Gets the joint type on the given asset at the index provided</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – index of the joint</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>type of joint</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="enum_py.html#isaacgym.gymapi.JointType" title="isaacgym.gymapi.JointType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.JointType</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_rigid_body_count">
<span class="sig-name descname"><span class="pre">get_asset_rigid_body_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_rigid_body_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets the count of rigid bodies on the given asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of rigid bodies in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_rigid_body_dict">
<span class="sig-name descname"><span class="pre">get_asset_rigid_body_dict</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Dict</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">int</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_rigid_body_dict" title="Permalink to this definition"></a></dt>
<dd><p>Maps rigid body names to asset-relative indices</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>dictionary containing mapping between body names and asset relative indices</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">dict</span></code> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">str</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_rigid_body_name">
<span class="sig-name descname"><span class="pre">get_asset_rigid_body_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_rigid_body_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the name of the rigid body on the given asset at the index provided</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – index of the rigid body</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of rigid body</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_rigid_body_names">
<span class="sig-name descname"><span class="pre">get_asset_rigid_body_names</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">str</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_rigid_body_names" title="Permalink to this definition"></a></dt>
<dd><p>Gets names of rigid bodies in asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">list</span></code> rigid body names.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_rigid_body_shape_indices">
<span class="sig-name descname"><span class="pre">get_asset_rigid_body_shape_indices</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.IndexRange" title="isaacgym.gymapi.IndexRange"><span class="pre">IndexRange</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_rigid_body_shape_indices" title="Permalink to this definition"></a></dt>
<dd><p>Maps asset body index to index ranges in shape array, i.e.
the range at index i will map to the indices of all of body i’s shapes</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.IndexRange" title="isaacgym.gymapi.IndexRange"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.IndexRange</span></code></a> : indices</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_rigid_shape_count">
<span class="sig-name descname"><span class="pre">get_asset_rigid_shape_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_rigid_shape_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets number of rigid shapes in asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of rigid shapes</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_rigid_shape_properties">
<span class="sig-name descname"><span class="pre">get_asset_rigid_shape_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidShapeProperties" title="isaacgym.gymapi.RigidShapeProperties"><span class="pre">RigidShapeProperties</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_rigid_shape_properties" title="Permalink to this definition"></a></dt>
<dd><p>Gets properties for rigid shapes in an asset.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidShapeProperties" title="isaacgym.gymapi.RigidShapeProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidShapeProperties</span></code></a> : list of rigid shape properties</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_soft_body_count">
<span class="sig-name descname"><span class="pre">get_asset_soft_body_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_soft_body_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets the count of soft bodies on the given asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of soft bodies in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_soft_materials">
<span class="sig-name descname"><span class="pre">get_asset_soft_materials</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.SoftMaterial" title="isaacgym.gymapi.SoftMaterial"><span class="pre">SoftMaterial</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_soft_materials" title="Permalink to this definition"></a></dt>
<dd><p>Gets an array of soft materials for the given asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">list</span></code> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.SoftMaterial" title="isaacgym.gymapi.SoftMaterial"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SoftMaterial</span></code></a> objects.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_tendon_count">
<span class="sig-name descname"><span class="pre">get_asset_tendon_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_tendon_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets the count of tendons on a given asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of tendons in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_tendon_name">
<span class="sig-name descname"><span class="pre">get_asset_tendon_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_tendon_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the name of a tendon of the given asset at the index provided</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – Index of the tendon</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of tendon in asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_asset_tendon_properties">
<span class="sig-name descname"><span class="pre">get_asset_tendon_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">TendonProperties</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_asset_tendon_properties" title="Permalink to this definition"></a></dt>
<dd><p>Gets an array of tendon properties for the given asset</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>array containing <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.TendonProperties</span></code> structure</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">array</span></code> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.TendonProperties</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_attractor_properties">
<span class="sig-name descname"><span class="pre">get_attractor_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AttractorProperties" title="isaacgym.gymapi.AttractorProperties"><span class="pre">AttractorProperties</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_attractor_properties" title="Permalink to this definition"></a></dt>
<dd><p>Get properties of the selected attractor.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Attractor</em>) – Attractor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>properties of selected attractor.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AttractorProperties" title="isaacgym.gymapi.AttractorProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AttractorProperties</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_camera_image">
<span class="sig-name descname"><span class="pre">get_camera_image</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.ImageType" title="isaacgym.gymapi.ImageType"><span class="pre">ImageType</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">object</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_camera_image" title="Permalink to this definition"></a></dt>
<dd><p>Gets image from selected camera</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>Camera</em>) – Camera handle.</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.ImageType" title="isaacgym.gymapi.ImageType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ImageType</span></code></a>) – type of image to obtain from camera. see <a class="reference internal" href="enum_py.html#isaacgym.gymapi.ImageType" title="isaacgym.gymapi.ImageType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ImageType</span></code></a></p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Array containing image data from selected camera</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>image</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_camera_image_gpu_tensor">
<span class="sig-name descname"><span class="pre">get_camera_image_gpu_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.ImageType" title="isaacgym.gymapi.ImageType"><span class="pre">ImageType</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">object</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_camera_image_gpu_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Retrieves camera image buffer on GPU</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param3</strong> (<em>Camera</em>) – Camera handle.</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.ImageType" title="isaacgym.gymapi.ImageType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ImageType</span></code></a>) – type of image to obtain from camera. see <a class="reference internal" href="enum_py.html#isaacgym.gymapi.ImageType" title="isaacgym.gymapi.ImageType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ImageType</span></code></a></p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>GymTensor object containing image buffer</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_camera_proj_matrix">
<span class="sig-name descname"><span class="pre">get_camera_proj_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">float32</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_camera_proj_matrix" title="Permalink to this definition"></a></dt>
<dd><p>Gets Camera Projection Matrix</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>Camera</em>) – Camera Handle.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Camera projection matrix</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Mat44" title="isaacgym.gymapi.Mat44"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Mat44</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_camera_transform">
<span class="sig-name descname"><span class="pre">get_camera_transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><span class="pre">Transform</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_camera_transform" title="Permalink to this definition"></a></dt>
<dd><p>Gets Camera Transform</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>Env</em>) – refEnv environment of reference to determine the origin</p></li>
<li><p><strong>param3</strong> (<em>Camera</em>) – Camera Handle.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Camera Transform</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_camera_view_matrix">
<span class="sig-name descname"><span class="pre">get_camera_view_matrix</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">float32</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_camera_view_matrix" title="Permalink to this definition"></a></dt>
<dd><p>Gets Camera View Matrix</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>Camera</em>) – Camera Handle.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Camera view matrix</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Mat44" title="isaacgym.gymapi.Mat44"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Mat44</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_dof_frame">
<span class="sig-name descname"><span class="pre">get_dof_frame</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofFrame" title="isaacgym.gymapi.DofFrame"><span class="pre">DofFrame</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_dof_frame" title="Permalink to this definition"></a></dt>
<dd><p>Gets Degree of Freedom Frame</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>DOF</em>) – Handle to degree of freedom.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Frame for DOF</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofFrame" title="isaacgym.gymapi.DofFrame"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.DofFrame</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_dof_position">
<span class="sig-name descname"><span class="pre">get_dof_position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_dof_position" title="Permalink to this definition"></a></dt>
<dd><p>Gets position for a degree of freedom.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_dof_state_tensor" title="isaacgym.gymapi.Gym.acquire_dof_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_dof_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>DOF</em>) – Handle to degree of freedom.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>position for DOF</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>float</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_dof_target_position">
<span class="sig-name descname"><span class="pre">get_dof_target_position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_dof_target_position" title="Permalink to this definition"></a></dt>
<dd><p>Gets target position for the DOF. if the DOF is prismatic, the target is in meters. if the DOF is revolute, the target is in radians.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_dof_position_target_tensor" title="isaacgym.gymapi.Gym.set_dof_position_target_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_dof_position_target_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>DOF</em>) – DOF Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>target position</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>float</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_dof_target_velocity">
<span class="sig-name descname"><span class="pre">get_dof_target_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_dof_target_velocity" title="Permalink to this definition"></a></dt>
<dd><p>Gets target velocity for the DOF. if the DOF is prismatic, the target is in m/s. if the DOF is revolute, the target is in rad/s.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>DOF</em>) – DOF Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>target velocity</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>float</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_dof_type_string">
<span class="sig-name descname"><span class="pre">get_dof_type_string</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.DofType" title="isaacgym.gymapi.DofType"><span class="pre">DofType</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_dof_type_string" title="Permalink to this definition"></a></dt>
<dd><p>Converts the degree of freedom type from GymDofType to string</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.DofType" title="isaacgym.gymapi.DofType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.DofType</span></code></a>) – Degree of freedom type</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>name of type as string</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_dof_velocity">
<span class="sig-name descname"><span class="pre">get_dof_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_dof_velocity" title="Permalink to this definition"></a></dt>
<dd><p>Gets velocity for a degree of freedom.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_dof_state_tensor" title="isaacgym.gymapi.Gym.acquire_dof_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_dof_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>DOF</em>) – Handle to degree of freedom.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Velocity for DOF</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>float</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_elapsed_time">
<span class="sig-name descname"><span class="pre">get_elapsed_time</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_elapsed_time" title="Permalink to this definition"></a></dt>
<dd><p>Gets Elapsed wall clock time since the simulation started.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>elapsed wall clock time, in seconds.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>double</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_env">
<span class="sig-name descname"><span class="pre">get_env</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Env</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_env" title="Permalink to this definition"></a></dt>
<dd><p>Gets Environment Handle</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – index of environment.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Environment Handle, if index is valid, nullptr otherwise</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Env</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_env_count">
<span class="sig-name descname"><span class="pre">get_env_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_env_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets count of environments on simulation</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>number of environments</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_env_dof_count">
<span class="sig-name descname"><span class="pre">get_env_dof_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_env_dof_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets count of degrees of freedom for environment</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>count of Degrees of Freedom</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_env_joint_count">
<span class="sig-name descname"><span class="pre">get_env_joint_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_env_joint_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets count of joints for environment</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Number of joints in environment</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_env_origin">
<span class="sig-name descname"><span class="pre">get_env_origin</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_env_origin" title="Permalink to this definition"></a></dt>
<dd><p>Gets position of environment origin, in simulation global coordinates</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>environment origin</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_env_rigid_body_count">
<span class="sig-name descname"><span class="pre">get_env_rigid_body_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_env_rigid_body_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets count of rigid bodies for environment</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Number of rigid bodies in environment</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_env_rigid_body_states">
<span class="sig-name descname"><span class="pre">get_env_rigid_body_states</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><span class="pre">RigidBodyState</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_env_rigid_body_states" title="Permalink to this definition"></a></dt>
<dd><p>Gets state for the environments’s Rigid Bodies. see <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyState</span></code></a>.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – flags for the state to obtain, can be velocities (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_VEL" title="isaacgym.gymapi.STATE_VEL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_VEL</span></code></a>), positions(<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_POS" title="isaacgym.gymapi.STATE_POS"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_POS</span></code></a>) or both (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_ALL" title="isaacgym.gymapi.STATE_ALL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_ALL</span></code></a>)</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>List of rigid body states</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">list</span></code> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyState</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_env_rigid_contact_forces">
<span class="sig-name descname"><span class="pre">get_env_rigid_contact_forces</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_env_rigid_contact_forces" title="Permalink to this definition"></a></dt>
<dd><p>Gets contact forces for a single environment.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_net_contact_force_tensor" title="isaacgym.gymapi.Gym.acquire_net_contact_force_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_net_contact_force_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Env</em>) – environment handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>: Contact forces for the environment</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_env_rigid_contacts">
<span class="sig-name descname"><span class="pre">get_env_rigid_contacts</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidContact" title="isaacgym.gymapi.RigidContact"><span class="pre">RigidContact</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_env_rigid_contacts" title="Permalink to this definition"></a></dt>
<dd><p>Gets contact information for environment</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Env</em>) – environment handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidContact" title="isaacgym.gymapi.RigidContact"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidContact</span></code></a>: Contact information for the environment</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_frame_count">
<span class="sig-name descname"><span class="pre">get_frame_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_frame_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets Current frame count in the simulation.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>current frame count in the simulation</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int64_t</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_joint_handle">
<span class="sig-name descname"><span class="pre">get_joint_handle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_joint_handle" title="Permalink to this definition"></a></dt>
<dd><p>Searches for the joint handle in an actor, given their names</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – Actor Name</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – Joint Name</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Joint handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_joint_name">
<span class="sig-name descname"><span class="pre">get_joint_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_joint_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the joint name.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Joint</em>) – Environment handle</p></li>
<li><p><strong>param1</strong> – Joint handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Joint Name</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_joint_position">
<span class="sig-name descname"><span class="pre">get_joint_position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_joint_position" title="Permalink to this definition"></a></dt>
<dd><p>Gets position for the joint.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Joint</em>) – Handle to joint of interest.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>The joint position value.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>float</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_joint_target_position">
<span class="sig-name descname"><span class="pre">get_joint_target_position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_joint_target_position" title="Permalink to this definition"></a></dt>
<dd><p>Gets target position for the joint. if the joint is prismatic, the target is in meters. if the joint is revolute, the target is in radians.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Joint</em>) – Joint Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>target position</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>float</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_joint_target_velocity">
<span class="sig-name descname"><span class="pre">get_joint_target_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_joint_target_velocity" title="Permalink to this definition"></a></dt>
<dd><p>Gets target velocity for the joint. if the joint is prismatic, the target is in m/s. if the joint is revolute, the target is in rad/s.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Joint</em>) – Joint Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>target velocity</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>float</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_joint_transform">
<span class="sig-name descname"><span class="pre">get_joint_transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><span class="pre">Transform</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_joint_transform" title="Permalink to this definition"></a></dt>
<dd><p>Gets Transform for the joint.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Joint</em>) – Handle to joint of interest.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>The joint transform value.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_joint_type_string">
<span class="sig-name descname"><span class="pre">get_joint_type_string</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.JointType" title="isaacgym.gymapi.JointType"><span class="pre">JointType</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_joint_type_string" title="Permalink to this definition"></a></dt>
<dd><p>Converts the joint type from JointType to string</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.JointType" title="isaacgym.gymapi.JointType"><em>JointType</em></a>) – Type of Joint.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>String containing joint type.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>string</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_joint_velocity">
<span class="sig-name descname"><span class="pre">get_joint_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_joint_velocity" title="Permalink to this definition"></a></dt>
<dd><p>Gets velocity for the joint.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Joint</em>) – Handle to joint of interest.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>The joint velocity value.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>float</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_performance_timers">
<span class="sig-name descname"><span class="pre">get_performance_timers</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.PerformanceTimers" title="isaacgym.gymapi.PerformanceTimers"><span class="pre">PerformanceTimers</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_performance_timers" title="Permalink to this definition"></a></dt>
<dd><p>Returns a struct of performance timers which reflect the times of the most recent operations for a set of timers</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<em>Timers</em>) – Simulation Timers Handle returned by <a class="reference internal" href="#isaacgym.gymapi.Gym.create_performance_timers" title="isaacgym.gymapi.Gym.create_performance_timers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.create_performance_timers</span></code></a></p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Performance timers data structure</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.PerformanceTimers" title="isaacgym.gymapi.PerformanceTimers"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.PerformanceTimers</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_pneumatic_pressure">
<span class="sig-name descname"><span class="pre">get_pneumatic_pressure</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_pneumatic_pressure" title="Permalink to this definition"></a></dt>
<dd><p>Gets pressure for selected actuator.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_pneumatic_pressure_tensor" title="isaacgym.gymapi.Gym.acquire_pneumatic_pressure_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_pneumatic_pressure_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>SoftActuator</em>) – Soft Actuator Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>pressure, in Pa.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>float</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_pneumatic_target">
<span class="sig-name descname"><span class="pre">get_pneumatic_target</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_pneumatic_target" title="Permalink to this definition"></a></dt>
<dd><p>Gets pressure target for selected actuator.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_pneumatic_target_tensor" title="isaacgym.gymapi.Gym.acquire_pneumatic_target_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_pneumatic_target_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>SoftActuator</em>) – Soft Actuator Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>pressure target, in Pa.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>float</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_rigid_angular_velocity">
<span class="sig-name descname"><span class="pre">get_rigid_angular_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_rigid_angular_velocity" title="Permalink to this definition"></a></dt>
<dd><p>Gets Angular Velocity for Rigid Body.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Body</em>) – Rigid Body handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>angular velocity</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_rigid_body_color">
<span class="sig-name descname"><span class="pre">get_rigid_body_color</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.MeshType" title="isaacgym.gymapi.MeshType"><span class="pre">MeshType</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_rigid_body_color" title="Permalink to this definition"></a></dt>
<dd><p>Gets color of rigid body</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – index of rigid body to be set</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.MeshType" title="isaacgym.gymapi.MeshType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.MeshType</span></code></a>) – selection of what mesh is to be set</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Vector containing RGB values in range [0,1]</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_rigid_body_segmentation_id">
<span class="sig-name descname"><span class="pre">get_rigid_body_segmentation_id</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_rigid_body_segmentation_id" title="Permalink to this definition"></a></dt>
<dd><p>Gets segmentation ID for rigid body</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – index of rigid body to be set</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>segmentation ID for selected body</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>uint32_t</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_rigid_body_texture">
<span class="sig-name descname"><span class="pre">get_rigid_body_texture</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.MeshType" title="isaacgym.gymapi.MeshType"><span class="pre">MeshType</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_rigid_body_texture" title="Permalink to this definition"></a></dt>
<dd><p>Gets Handle for rigid body texture</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – index of rigid body to be set</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.MeshType" title="isaacgym.gymapi.MeshType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.MeshType</span></code></a>) – selection of what mesh is to be set</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>handle for applied texture, INVALID_HANDLE if none is applied.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle`</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_rigid_contact_forces">
<span class="sig-name descname"><span class="pre">get_rigid_contact_forces</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_rigid_contact_forces" title="Permalink to this definition"></a></dt>
<dd><p>Gets contact forces in simulation.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_net_contact_force_tensor" title="isaacgym.gymapi.Gym.acquire_net_contact_force_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_net_contact_force_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>: Contact forces for the simulator</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_rigid_contacts">
<span class="sig-name descname"><span class="pre">get_rigid_contacts</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidContact" title="isaacgym.gymapi.RigidContact"><span class="pre">RigidContact</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_rigid_contacts" title="Permalink to this definition"></a></dt>
<dd><p>Gets contact information for simulation.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidContact" title="isaacgym.gymapi.RigidContact"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidContact</span></code></a>: Contact information for the simulation</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_rigid_handle">
<span class="sig-name descname"><span class="pre">get_rigid_handle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_rigid_handle" title="Permalink to this definition"></a></dt>
<dd><p>Searches for the rigid body in an actor, given their names</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – Actor Name</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – Rigid Body Name</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Rigid Body handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_rigid_linear_velocity">
<span class="sig-name descname"><span class="pre">get_rigid_linear_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_rigid_linear_velocity" title="Permalink to this definition"></a></dt>
<dd><p>Gets Linear Velocity for Rigid Body.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Body</em>) – Rigid Body handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>linear velocity</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_rigid_name">
<span class="sig-name descname"><span class="pre">get_rigid_name</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_rigid_name" title="Permalink to this definition"></a></dt>
<dd><p>Gets the rigid body name.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Body</em>) – Environment handle</p></li>
<li><p><strong>param1</strong> – Rigid Body handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Rigid Body Name</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_rigid_transform">
<span class="sig-name descname"><span class="pre">get_rigid_transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><span class="pre">Transform</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_rigid_transform" title="Permalink to this definition"></a></dt>
<dd><p>Vectorized bindings to get rigid body transforms in the env frame.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Body</em>) – Environment handle</p></li>
<li><p><strong>param1</strong> – Rigid Body handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Transform</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sensor">
<span class="sig-name descname"><span class="pre">get_sensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sensor" title="Permalink to this definition"></a></dt>
<dd><p>N/A</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sim_actor_count">
<span class="sig-name descname"><span class="pre">get_sim_actor_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sim_actor_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets total number of actors in simulation</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Number of actors</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sim_dof_count">
<span class="sig-name descname"><span class="pre">get_sim_dof_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sim_dof_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets count of degrees of freedom for simulation</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>count of Degrees of Freedom</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sim_force_sensor_count">
<span class="sig-name descname"><span class="pre">get_sim_force_sensor_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sim_force_sensor_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets number of force sensors in simulation</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Number of sensors</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sim_joint_count">
<span class="sig-name descname"><span class="pre">get_sim_joint_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sim_joint_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets count of joints for simulation</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Joint count for simulation</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sim_params">
<span class="sig-name descname"><span class="pre">get_sim_params</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">object</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sim_params" title="Permalink to this definition"></a></dt>
<dd><p>Gets simulation Parameters. See <a class="reference internal" href="struct_py.html#isaacgym.gymapi.SimParams" title="isaacgym.gymapi.SimParams"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SimParams</span></code></a></p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>current simulation parameters</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.SimParams" title="isaacgym.gymapi.SimParams"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SimParams</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sim_rigid_body_count">
<span class="sig-name descname"><span class="pre">get_sim_rigid_body_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sim_rigid_body_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets count of Rigid Bodies for simulation</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Count of rigid bodies</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sim_rigid_body_states">
<span class="sig-name descname"><span class="pre">get_sim_rigid_body_states</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><span class="pre">RigidBodyState</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sim_rigid_body_states" title="Permalink to this definition"></a></dt>
<dd><p>Gets state for the simulation’s Rigid Bodies. see <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyState</span></code></a>.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – flags for the state to obtain, can be velocities (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_VEL" title="isaacgym.gymapi.STATE_VEL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_VEL</span></code></a>),
positions(<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_POS" title="isaacgym.gymapi.STATE_POS"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_POS</span></code></a>) or both (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_ALL" title="isaacgym.gymapi.STATE_ALL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_ALL</span></code></a>)</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>List of rigid body states</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">list</span></code> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyState</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sim_tetrahedra">
<span class="sig-name descname"><span class="pre">get_sim_tetrahedra</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Mat33" title="isaacgym.gymapi.Mat33"><span class="pre">Mat33</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sim_tetrahedra" title="Permalink to this definition"></a></dt>
<dd><p>Gets the tetrahedra indices and Cauchy stress tensors</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>tuple(indices[] (int), stress[] (Matrix33))</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sim_tetrahedra_count">
<span class="sig-name descname"><span class="pre">get_sim_tetrahedra_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sim_tetrahedra_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets the total number of tetrahedra in the simulation</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>tetrahedra count</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sim_time">
<span class="sig-name descname"><span class="pre">get_sim_time</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">float</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sim_time" title="Permalink to this definition"></a></dt>
<dd><p>Gets Elapsed Simulation Time.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>elapsed simulation time, in seconds</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>double</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sim_triangle_count">
<span class="sig-name descname"><span class="pre">get_sim_triangle_count</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sim_triangle_count" title="Permalink to this definition"></a></dt>
<dd><p>Gets the total number of deformable triangles in the simulation</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>triangle count</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>int</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_sim_triangles">
<span class="sig-name descname"><span class="pre">get_sim_triangles</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Tuple</span><span class="p"><span class="pre">[</span></span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">int</span><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">,</span></span><span class="w"> </span><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a><span class="p"><span class="pre">]</span></span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_sim_triangles" title="Permalink to this definition"></a></dt>
<dd><p>Gets the triangle indices, parent tetrahedron indices, and face normals</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>tuple(indices (int[]), parents (int[]), normals (Float3[]))</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_soft_contacts">
<span class="sig-name descname"><span class="pre">get_soft_contacts</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">SoftContact</span><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_soft_contacts" title="Permalink to this definition"></a></dt>
<dd><p>Gets soft contact information for simulation</p>
<p>Args:
param1 (Sim): Simulation handle</p>
<p>Returns:
:obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SoftContact</span></code>: Contact information for the simulation</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_usd_export_root">
<span class="sig-name descname"><span class="pre">get_usd_export_root</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">UsdExporter</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">str</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_usd_export_root" title="Permalink to this definition"></a></dt>
<dd><p>Get USD export directory of a USD exporter</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Exporter</em>) – USD Exporter Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>path the root directory path</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>str</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_vec_actor_dof_states">
<span class="sig-name descname"><span class="pre">get_vec_actor_dof_states</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_vec_actor_dof_states" title="Permalink to this definition"></a></dt>
<dd><p>Overloaded function.</p>
<ol class="arabic">
<li><p>get_vec_actor_dof_states(self: Gym, arg0: List[Env], arg1: int, arg2: int) -&gt; numpy.ndarray[DofState]</p>
<blockquote>
<div><blockquote>
<div><p>Gets state for the actor’s degrees of freedom from multiple environments. see <a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofState" title="isaacgym.gymapi.DofState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.DofState</span></code></a>.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_dof_state_tensor" title="isaacgym.gymapi.Gym.acquire_dof_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_dof_state_tensor</span></code></a> for new tensor version of this API.</p>
</div></blockquote>
<dl class="simple">
<dt>Args:</dt><dd><p>param1 (:obj: list of Env): Environment Handles
param2 (Actor): Actor Handle
param3 (int): flags for the state to obtain, can be velocities (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_VEL" title="isaacgym.gymapi.STATE_VEL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_VEL</span></code></a>), positions(<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_POS" title="isaacgym.gymapi.STATE_POS"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_POS</span></code></a>) or both (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_ALL" title="isaacgym.gymapi.STATE_ALL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_ALL</span></code></a>)</p>
</dd>
<dt>Returns:</dt><dd><dl class="field-list simple">
<dt class="field-odd">obj<span class="colon">:</span></dt>
<dd class="field-odd"><p>list of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofState" title="isaacgym.gymapi.DofState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.DofState</span></code></a> : array of states</p>
</dd>
</dl>
</dd>
</dl>
</div></blockquote>
</li>
<li><p>get_vec_actor_dof_states(self: Gym, arg0: List[Env], arg1: List[int], arg2: int) -&gt; numpy.ndarray[DofState]</p>
<blockquote>
<div><blockquote>
<div><p>Gets state for the actors degrees of freedom from multiple environments. see <a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofState" title="isaacgym.gymapi.DofState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.DofState</span></code></a>.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_dof_state_tensor" title="isaacgym.gymapi.Gym.acquire_dof_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_dof_state_tensor</span></code></a> for new tensor version of this API.</p>
</div></blockquote>
<dl class="simple">
<dt>Args:</dt><dd><p>param1 (:obj: list of Env): Environment Handles
param2 (:obj: list of Actor): Actor Handles
param3 (int): flags for the state to obtain, can be velocities (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_VEL" title="isaacgym.gymapi.STATE_VEL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_VEL</span></code></a>), positions(<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_POS" title="isaacgym.gymapi.STATE_POS"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_POS</span></code></a>) or both (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_ALL" title="isaacgym.gymapi.STATE_ALL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_ALL</span></code></a>)</p>
</dd>
<dt>Returns:</dt><dd><dl class="field-list simple">
<dt class="field-odd">obj<span class="colon">:</span></dt>
<dd class="field-odd"><p>list of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofState" title="isaacgym.gymapi.DofState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.DofState</span></code></a> : array of states</p>
</dd>
</dl>
</dd>
</dl>
</div></blockquote>
</li>
</ol>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_vec_env_rigid_contact_forces">
<span class="sig-name descname"><span class="pre">get_vec_env_rigid_contact_forces</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">Env</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_vec_env_rigid_contact_forces" title="Permalink to this definition"></a></dt>
<dd><p>Gets contact forces for a list of environments.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_net_contact_force_tensor" title="isaacgym.gymapi.Gym.acquire_net_contact_force_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_net_contact_force_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>(</strong> (<em>param1</em>) – obj: <cite>list</cite> of Env): list of environment handles</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>: Contact forces, size of list is numEnvs * numBodies</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_vec_rigid_angular_velocity">
<span class="sig-name descname"><span class="pre">get_vec_rigid_angular_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_vec_rigid_angular_velocity" title="Permalink to this definition"></a></dt>
<dd><p>Overloaded function.</p>
<ol class="arabic">
<li><p>get_vec_rigid_angular_velocity(self: Gym, arg0: List[Env], arg1: int) -&gt; numpy.ndarray[Vec3]</p>
<blockquote>
<div><p>vectorized bindings to get rigid body angular velocities in the env frame.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="simple">
<dt>Args:</dt><dd><p>param1 (:obj: <cite>list</cite> of Env): list of environment handles
param2 (Body): Rigid Body handle</p>
</dd>
<dt>Returns:</dt><dd><dl class="field-list simple">
<dt class="field-odd">obj<span class="colon">:</span></dt>
<dd class="field-odd"><p><cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>: Angular velocities</p>
</dd>
</dl>
</dd>
</dl>
</div></blockquote>
</li>
<li><p>get_vec_rigid_angular_velocity(self: Gym, arg0: List[Env], arg1: List[int]) -&gt; numpy.ndarray[Vec3]</p>
<blockquote>
<div><p>vectorized bindings to get rigid body angular velocities in the env frame.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="simple">
<dt>Args:</dt><dd><p>param1 (:obj: <cite>list</cite> of Env): list of environment handles
param2 (:obj: <cite>list</cite> of Body): list of Rigid Body handles</p>
</dd>
<dt>Returns:</dt><dd><dl class="field-list simple">
<dt class="field-odd">obj<span class="colon">:</span></dt>
<dd class="field-odd"><p><cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>: Angular velocities</p>
</dd>
</dl>
</dd>
</dl>
</div></blockquote>
</li>
</ol>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_vec_rigid_linear_velocity">
<span class="sig-name descname"><span class="pre">get_vec_rigid_linear_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_vec_rigid_linear_velocity" title="Permalink to this definition"></a></dt>
<dd><p>Overloaded function.</p>
<ol class="arabic">
<li><p>get_vec_rigid_linear_velocity(self: Gym, arg0: List[Env], arg1: int) -&gt; numpy.ndarray[Vec3]</p>
<blockquote>
<div><p>Vectorized bindings to get rigid body linear velocities in the env frame.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="simple">
<dt>Args:</dt><dd><p>param1 (:obj: <cite>list</cite> of Env): list of environment handles
param1 (Body): Rigid Body handle</p>
</dd>
<dt>Returns:</dt><dd><dl class="field-list simple">
<dt class="field-odd">obj<span class="colon">:</span></dt>
<dd class="field-odd"><p><cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>: Linear velocities</p>
</dd>
</dl>
</dd>
</dl>
</div></blockquote>
</li>
<li><p>get_vec_rigid_linear_velocity(self: Gym, arg0: List[Env], arg1: List[int]) -&gt; numpy.ndarray[Vec3]</p>
<blockquote>
<div><p>Vectorized bindings to get rigid body linear velocities in the env frame.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="simple">
<dt>Args:</dt><dd><p>param1 (:obj: <cite>list</cite> of Env): list of environment handles
param1 (:obj: <cite>list</cite> of Body): list of Rigid Body handles</p>
</dd>
<dt>Returns:</dt><dd><dl class="field-list simple">
<dt class="field-odd">obj<span class="colon">:</span></dt>
<dd class="field-odd"><p><cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>: Linear velocities</p>
</dd>
</dl>
</dd>
</dl>
</div></blockquote>
</li>
</ol>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_vec_rigid_transform">
<span class="sig-name descname"><span class="pre">get_vec_rigid_transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="o"><span class="pre">*</span></span><span class="n"><span class="pre">args</span></span></em>, <em class="sig-param"><span class="o"><span class="pre">**</span></span><span class="n"><span class="pre">kwargs</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_vec_rigid_transform" title="Permalink to this definition"></a></dt>
<dd><p>Overloaded function.</p>
<ol class="arabic">
<li><p>get_vec_rigid_transform(self: Gym, arg0: List[Env], arg1: int) -&gt; numpy.ndarray[Transform]</p>
<blockquote>
<div><p>Vectorized bindings to get rigid body transforms in the env frame.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="simple">
<dt>Args:</dt><dd><p>param1 (:obj: <cite>list</cite> of Env): list of environment handles
param1 (Body): Rigid Body handle</p>
</dd>
<dt>Returns:</dt><dd><dl class="field-list simple">
<dt class="field-odd">obj<span class="colon">:</span></dt>
<dd class="field-odd"><p><cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a>: Transforms</p>
</dd>
</dl>
</dd>
</dl>
</div></blockquote>
</li>
<li><p>get_vec_rigid_transform(self: Gym, arg0: List[Env], arg1: List[int]) -&gt; numpy.ndarray[Transform]</p>
<blockquote>
<div><p>Vectorized bindings to get rigid body transforms in the env frame.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.acquire_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="simple">
<dt>Args:</dt><dd><p>param1 (:obj: <cite>list</cite> of Env): list of environment handles
param1 (:obj: <cite>list</cite> of Body): list of Rigid Body handles</p>
</dd>
<dt>Returns:</dt><dd><dl class="field-list simple">
<dt class="field-odd">obj<span class="colon">:</span></dt>
<dd class="field-odd"><p><cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a>: Transforms</p>
</dd>
</dl>
</dd>
</dl>
</div></blockquote>
</li>
</ol>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_version">
<span class="sig-name descname"><span class="pre">get_version</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Version" title="isaacgym.gymapi.Version"><span class="pre">Version</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_version" title="Permalink to this definition"></a></dt>
<dd><p>Get Gym version.</p>
<dl class="field-list simple">
<dt class="field-odd">Returns<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Version" title="isaacgym.gymapi.Version"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Version</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_viewer_camera_handle">
<span class="sig-name descname"><span class="pre">get_viewer_camera_handle</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">int</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_viewer_camera_handle" title="Permalink to this definition"></a></dt>
<dd><p>Gets handle for the viewer camera</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Camera Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_viewer_camera_transform">
<span class="sig-name descname"><span class="pre">get_viewer_camera_transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><span class="pre">Transform</span></a></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_viewer_camera_transform" title="Permalink to this definition"></a></dt>
<dd><p>Gets camera transform, with respect to the selected environment</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p></li>
<li><p><strong>param2</strong> (<em>Env</em>) – revEnv environment of reference</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Camera Transform</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_viewer_mouse_position">
<span class="sig-name descname"><span class="pre">get_viewer_mouse_position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Vec2</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_viewer_mouse_position" title="Permalink to this definition"></a></dt>
<dd><p>Returns the latest mouse position from the viewer</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Vector containing the normalized mouse coordinates</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec2</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.get_viewer_size">
<span class="sig-name descname"><span class="pre">get_viewer_size</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Int2</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.get_viewer_size" title="Permalink to this definition"></a></dt>
<dd><p>Returns the size of the window from the viewer</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Vector containing the window size</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Int2</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.load_asset">
<span class="sig-name descname"><span class="pre">load_asset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rootpath</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">filename</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><span class="pre">AssetOptions</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Asset</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.load_asset" title="Permalink to this definition"></a></dt>
<dd><p>Loads an asset from a file. The file type will be determined by its extension.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – path to asset root folder</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – asset file name</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AssetOptions</span></code></a>) – asset Options.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.load_mjcf">
<span class="sig-name descname"><span class="pre">load_mjcf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rootpath</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">filename</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><span class="pre">AssetOptions</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Asset</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.load_mjcf" title="Permalink to this definition"></a></dt>
<dd><p>Loads an Asset from a MJCF file.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – path to asset root folder</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – asset file name</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AssetOptions</span></code></a>) – asset Options.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.load_opensim">
<span class="sig-name descname"><span class="pre">load_opensim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rootpath</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">filename</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><span class="pre">AssetOptions</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Asset</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.load_opensim" title="Permalink to this definition"></a></dt>
<dd><p>Loads an Asset from a OpenSim file.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – path to asset root folder</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – asset file name</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AssetOptions</span></code></a>) – asset Options.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.load_sim">
<span class="sig-name descname"><span class="pre">load_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.SimType" title="isaacgym.gymapi.SimType"><span class="pre">SimType</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg4</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Sim</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.load_sim" title="Permalink to this definition"></a></dt>
<dd><p>Load simulation from USD scene, updates will not be saved to USD stage.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>int</em>) – index of CUDA-enabled GPU to be used for simulation.</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – index of GPU to be used for rendering.</p></li>
<li><p><strong>param3</strong> (<cite>isaacgym.gymapi.SimType</cite>) – Type of simulation to be used.</p></li>
<li><p><strong>param4</strong> (<em>string</em>) – Path to root directory of USD scene</p></li>
<li><p><strong>param5</strong> (<em>string</em>) – Filename of USD scene</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Simulation Handle</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Sim</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.load_urdf">
<span class="sig-name descname"><span class="pre">load_urdf</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rootpath</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">filename</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><span class="pre">AssetOptions</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Asset</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.load_urdf" title="Permalink to this definition"></a></dt>
<dd><p>Loads an Asset from a URDF file.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – path to asset root folder</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – asset file name</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AssetOptions</span></code></a>) – asset Options.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.load_usd">
<span class="sig-name descname"><span class="pre">load_usd</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">sim</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">rootpath</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">filename</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">options</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><span class="pre">AssetOptions</span></a></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">Asset</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.load_usd" title="Permalink to this definition"></a></dt>
<dd><p>Loads an Asset from a USD file.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – path to asset root folder</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – asset file name</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AssetOptions" title="isaacgym.gymapi.AssetOptions"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AssetOptions</span></code></a>) – asset Options.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>Handle to asset</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.omni_connect">
<span class="sig-name descname"><span class="pre">omni_connect</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">OmniConnectionParams</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.omni_connect" title="Permalink to this definition"></a></dt>
<dd><p>Connect to Omniverse Kit</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.omni_disconnect">
<span class="sig-name descname"><span class="pre">omni_disconnect</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.omni_disconnect" title="Permalink to this definition"></a></dt>
<dd><p>Disconnect from Omniverse Kit</p>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.poll_viewer_events">
<span class="sig-name descname"><span class="pre">poll_viewer_events</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.poll_viewer_events" title="Permalink to this definition"></a></dt>
<dd><p>Poll viewer without rendering updates</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.prepare_sim">
<span class="sig-name descname"><span class="pre">prepare_sim</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.prepare_sim" title="Permalink to this definition"></a></dt>
<dd><p>Prepares simulation with buffer allocations</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.query_viewer_action_events">
<span class="sig-name descname"><span class="pre">query_viewer_action_events</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.ActionEvent" title="isaacgym.gymapi.ActionEvent"><span class="pre">ActionEvent</span></a><span class="p"><span class="pre">]</span></span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.query_viewer_action_events" title="Permalink to this definition"></a></dt>
<dd><p>Checks if a given event has occurred.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.ActionEvent" title="isaacgym.gymapi.ActionEvent"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ActionEvent</span></code></a>: List of events and values</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.query_viewer_has_closed">
<span class="sig-name descname"><span class="pre">query_viewer_has_closed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.query_viewer_has_closed" title="Permalink to this definition"></a></dt>
<dd><p>Checks whether the viewer has closed</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if viewer has closed, false otherwise</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.refresh_actor_root_state_tensor">
<span class="sig-name descname"><span class="pre">refresh_actor_root_state_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.refresh_actor_root_state_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Updates actor root state buffer</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.refresh_dof_force_tensor">
<span class="sig-name descname"><span class="pre">refresh_dof_force_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.refresh_dof_force_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Updates buffer state for DOF forces</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.refresh_dof_state_tensor">
<span class="sig-name descname"><span class="pre">refresh_dof_state_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.refresh_dof_state_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Updates DOF state buffer</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.refresh_force_sensor_tensor">
<span class="sig-name descname"><span class="pre">refresh_force_sensor_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.refresh_force_sensor_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Updates buffer state for force sensors tensor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.refresh_jacobian_tensors">
<span class="sig-name descname"><span class="pre">refresh_jacobian_tensors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.refresh_jacobian_tensors" title="Permalink to this definition"></a></dt>
<dd><p>Updates buffer state for Jacobian tensor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.refresh_mass_matrix_tensors">
<span class="sig-name descname"><span class="pre">refresh_mass_matrix_tensors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.refresh_mass_matrix_tensors" title="Permalink to this definition"></a></dt>
<dd><p>Updates buffer state for Mass Matrix tensor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.refresh_net_contact_force_tensor">
<span class="sig-name descname"><span class="pre">refresh_net_contact_force_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.refresh_net_contact_force_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Updates buffer state for net contact force tensor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.refresh_particle_state_tensor">
<span class="sig-name descname"><span class="pre">refresh_particle_state_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.refresh_particle_state_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Updates buffer for particle states tensor. Flex backend only.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.refresh_pneumatic_pressure_tensor">
<span class="sig-name descname"><span class="pre">refresh_pneumatic_pressure_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.refresh_pneumatic_pressure_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Updates buffer state for pneumatic pressure tensor. Flex backend only.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.refresh_pneumatic_target_tensor">
<span class="sig-name descname"><span class="pre">refresh_pneumatic_target_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.refresh_pneumatic_target_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Updates buffer state for pneumatic target tensor. Flex backend only.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.refresh_rigid_body_state_tensor">
<span class="sig-name descname"><span class="pre">refresh_rigid_body_state_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.refresh_rigid_body_state_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Updates rigid body states buffer</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.render_all_camera_sensors">
<span class="sig-name descname"><span class="pre">render_all_camera_sensors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.render_all_camera_sensors" title="Permalink to this definition"></a></dt>
<dd><p>Renders all images obtained from camera sensors</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.reset_actor_materials">
<span class="sig-name descname"><span class="pre">reset_actor_materials</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.MeshType" title="isaacgym.gymapi.MeshType"><span class="pre">MeshType</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.reset_actor_materials" title="Permalink to this definition"></a></dt>
<dd><p>Resets all materials on an actor to what was loaded with the asset file.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.MeshType" title="isaacgym.gymapi.MeshType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.MeshType</span></code></a>) – selection of what mesh is to be set</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.reset_actor_particles_to_rest">
<span class="sig-name descname"><span class="pre">reset_actor_particles_to_rest</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.reset_actor_particles_to_rest" title="Permalink to this definition"></a></dt>
<dd><p>Resets particles in actor to their rest position</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_dof_position_targets">
<span class="sig-name descname"><span class="pre">set_actor_dof_position_targets</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">float32</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_dof_position_targets" title="Permalink to this definition"></a></dt>
<dd><blockquote>
<div><p>Sets target position for the actor’s degrees of freedom. if the joint is prismatic, the target is in meters. if the joint is revolute, the target is in radians.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_dof_position_target_tensor" title="isaacgym.gymapi.Gym.set_dof_position_target_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_dof_position_target_tensor</span></code></a> for new tensor version of this API.</p>
</div></blockquote>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>(</strong> (<em>param3</em>) – obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code>) : array of position targets</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_dof_properties">
<span class="sig-name descname"><span class="pre">set_actor_dof_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="pre">self:</span> <span class="pre">Gym,</span> <span class="pre">arg0:</span> <span class="pre">Env,</span> <span class="pre">arg1:</span> <span class="pre">int,</span> <span class="pre">arg2:</span> <span class="pre">numpy.ndarray[carb::gym::GymDofProperties]</span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_dof_properties" title="Permalink to this definition"></a></dt>
<dd><p>Sets Degrees of Freedom Properties for Actor.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>properties.</strong> (<em>param3 A structured Numpy array of DOF</em>) – </p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_dof_states">
<span class="sig-name descname"><span class="pre">set_actor_dof_states</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofState" title="isaacgym.gymapi.DofState"><span class="pre">DofState</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_dof_states" title="Permalink to this definition"></a></dt>
<dd><p>Sets states for the actor’s Rigid Bodies. see <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyState</span></code></a>.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_dof_state_tensor" title="isaacgym.gymapi.Gym.set_dof_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_dof_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>(</strong> (<em>param3</em>) – obj: list of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.DofState" title="isaacgym.gymapi.DofState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.DofState</span></code></a>): array of states to set.</p></li>
<li><p><strong>param4</strong> (<em>int</em>) – flags for the state to obtain, can be velocities (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_VEL" title="isaacgym.gymapi.STATE_VEL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_VEL</span></code></a>), positions(<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_POS" title="isaacgym.gymapi.STATE_POS"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_POS</span></code></a>) or both (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_ALL" title="isaacgym.gymapi.STATE_ALL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_ALL</span></code></a>)</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_dof_velocity_targets">
<span class="sig-name descname"><span class="pre">set_actor_dof_velocity_targets</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><span class="pre">float32</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_dof_velocity_targets" title="Permalink to this definition"></a></dt>
<dd><blockquote>
<div><p>Sets target velocities for the actor’s degrees of fredom. if the joint is prismatic, the target is in m/s. if the joint is revolute, the target is in rad/s.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_dof_velocity_target_tensor" title="isaacgym.gymapi.Gym.set_dof_velocity_target_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_dof_velocity_target_tensor</span></code></a> for new tensor version of this API.</p>
</div></blockquote>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>(</strong> (<em>param3</em>) – obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code>) : array of velocity targets</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_fixed_tendon_joint_coefficients">
<span class="sig-name descname"><span class="pre">set_actor_fixed_tendon_joint_coefficients</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_fixed_tendon_joint_coefficients" title="Permalink to this definition"></a></dt>
<dd><p>Sets coefficients of joints in fixed tendon of an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Index of fixed tendon</p></li>
<li><p><strong>(</strong> (<em>param4</em>) – obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code>): list of coefficients to set</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_rigid_body_properties">
<span class="sig-name descname"><span class="pre">set_actor_rigid_body_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">env</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">actorHandle</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">props</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyProperties" title="isaacgym.gymapi.RigidBodyProperties"><span class="pre">RigidBodyProperties</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">recomputeInertia</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">bool</span></span><span class="w"> </span><span class="o"><span class="pre">=</span></span><span class="w"> </span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_rigid_body_properties" title="Permalink to this definition"></a></dt>
<dd><p>Sets properties for rigid bodies in an actor on selected environment.</p>
<p>Note: Changing the center-of-mass when using the GPU pipeline is currently not supported (but mass and inertia can be changed).</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>(</strong> (<em>param3</em>) – obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyProperties" title="isaacgym.gymapi.RigidBodyProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyProperties</span></code></a>): list of properties to set</p></li>
<li><p><strong>param4</strong> (<em>bool</em>) – flag for recomputing inertia tensor on a mass change</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_rigid_body_states">
<span class="sig-name descname"><span class="pre">set_actor_rigid_body_states</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><span class="pre">RigidBodyState</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_rigid_body_states" title="Permalink to this definition"></a></dt>
<dd><p>Sets states for the actor’s Rigid Bodies. see <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyState</span></code></a>.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.set_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>(</strong> (<em>param3</em>) – obj: list of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyState</span></code></a>): array of states to set.</p></li>
<li><p><strong>param4</strong> (<em>int</em>) – flags for the state to obtain, can be velocities (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_VEL" title="isaacgym.gymapi.STATE_VEL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_VEL</span></code></a>), positions(<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_POS" title="isaacgym.gymapi.STATE_POS"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_POS</span></code></a>) or both (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_ALL" title="isaacgym.gymapi.STATE_ALL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_ALL</span></code></a>)</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_rigid_shape_properties">
<span class="sig-name descname"><span class="pre">set_actor_rigid_shape_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidShapeProperties" title="isaacgym.gymapi.RigidShapeProperties"><span class="pre">RigidShapeProperties</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_rigid_shape_properties" title="Permalink to this definition"></a></dt>
<dd><p>Sets properties for rigid shapes in an ector on selected environment.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>(</strong> (<em>param3</em>) – obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidShapeProperties" title="isaacgym.gymapi.RigidShapeProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidShapeProperties</span></code></a>): list of properties to set</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_root_state_tensor">
<span class="sig-name descname"><span class="pre">set_actor_root_state_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_root_state_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Sets actor root state buffer to values provided for all actors in simulation.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_actor_root_state_tensor_indexed" title="isaacgym.gymapi.Gym.set_actor_root_state_tensor_indexed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_actor_root_state_tensor_indexed</span></code></a> for indexed version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing actor root states</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_root_state_tensor_indexed">
<span class="sig-name descname"><span class="pre">set_actor_root_state_tensor_indexed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_root_state_tensor_indexed" title="Permalink to this definition"></a></dt>
<dd><p>Sets actor root state buffer to values provided for given actor indices.
Full actor root states buffer should be provided for all actors.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing actor root states</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing actor indices</p></li>
<li><p><strong>param4</strong> (<em>int</em>) – Size of actor indices buffer</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_scale">
<span class="sig-name descname"><span class="pre">set_actor_scale</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_scale" title="Permalink to this definition"></a></dt>
<dd><p>Sets the scale of the actor.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>float</em>) – </p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>True if scale was set successfully, false otherwise.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_soft_materials">
<span class="sig-name descname"><span class="pre">set_actor_soft_materials</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.SoftMaterial" title="isaacgym.gymapi.SoftMaterial"><span class="pre">SoftMaterial</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_soft_materials" title="Permalink to this definition"></a></dt>
<dd><p>Sets soft material properties for Actor.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>(</strong> (<em>param3</em>) – obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SoftMaterials</span></code>):  properties for soft materials, see <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SoftMaterials</span></code>.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_tendon_offset">
<span class="sig-name descname"><span class="pre">set_actor_tendon_offset</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_tendon_offset" title="Permalink to this definition"></a></dt>
<dd><p>Sets the length offset of a tendon of an actor</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – Index of the tendon</p></li>
<li><p><strong>param4</strong> (<em>float</em>) – The offset to set</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>indicator whether operation was successful</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_actor_tendon_properties">
<span class="sig-name descname"><span class="pre">set_actor_tendon_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">TendonProperties</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_actor_tendon_properties" title="Permalink to this definition"></a></dt>
<dd><p>Sets properties for tendons in an actor.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>(</strong> (<em>param3</em>) – obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.TendonProperties</span></code>): list of properties to set</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_asset_fixed_tendon_joint_coefficients">
<span class="sig-name descname"><span class="pre">set_asset_fixed_tendon_joint_coefficients</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">float</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_asset_fixed_tendon_joint_coefficients" title="Permalink to this definition"></a></dt>
<dd><p>Sets coefficients of joints in fixed tendon in an asset.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – Index of fixed tendon</p></li>
<li><p><strong>(</strong> (<em>param3</em>) – obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">float</span></code>): list of coefficients to set</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_asset_rigid_shape_properties">
<span class="sig-name descname"><span class="pre">set_asset_rigid_shape_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidShapeProperties" title="isaacgym.gymapi.RigidShapeProperties"><span class="pre">RigidShapeProperties</span></a><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_asset_rigid_shape_properties" title="Permalink to this definition"></a></dt>
<dd><p>Sets properties for rigid shapes in an asset.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>(</strong> (<em>param2</em>) – obj: <cite>list</cite> of <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidShapeProperties" title="isaacgym.gymapi.RigidShapeProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidShapeProperties</span></code></a>): list of properties to set</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_asset_tendon_properties">
<span class="sig-name descname"><span class="pre">set_asset_tendon_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Asset</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">List</span><span class="p"><span class="pre">[</span></span><span class="pre">TendonProperties</span><span class="p"><span class="pre">]</span></span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_asset_tendon_properties" title="Permalink to this definition"></a></dt>
<dd><p>Sets properties for tendons in an asset.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Asset</em>) – Asset Handle</p></li>
<li><p><strong>(</strong> (<em>param2</em>) – obj: <cite>list</cite> of <code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.TendonProperties</span></code>): list of properties to set</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>return true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_attractor_properties">
<span class="sig-name descname"><span class="pre">set_attractor_properties</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AttractorProperties" title="isaacgym.gymapi.AttractorProperties"><span class="pre">AttractorProperties</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_attractor_properties" title="Permalink to this definition"></a></dt>
<dd><p>Modifies the properties of an attractor given by its handle and the environment selected. for modifying only the attractor target, see setAttractorTarget.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Attractor</em>) – Attractor Handle</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.AttractorProperties" title="isaacgym.gymapi.AttractorProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AttractorProperties</span></code></a>) – the new properties for the attractor.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_attractor_target">
<span class="sig-name descname"><span class="pre">set_attractor_target</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><span class="pre">Transform</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_attractor_target" title="Permalink to this definition"></a></dt>
<dd><p>Modifies target of the selected attractor.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Attractor</em>) – Attractor Handle</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a>) – attractor target pose, in global coordinate.</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>properties of selected attractor.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p><a class="reference internal" href="struct_py.html#isaacgym.gymapi.AttractorProperties" title="isaacgym.gymapi.AttractorProperties"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.AttractorProperties</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_camera_location">
<span class="sig-name descname"><span class="pre">set_camera_location</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_camera_location" title="Permalink to this definition"></a></dt>
<dd><p>Positions the viewer camera to look at a specified target location. Setting Camera location manually will detach the camera if it is attached to a body</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Camera</em>) – Viewer Handle.</p></li>
<li><p><strong>param2</strong> (<em>Env</em>) – refEnv environment of reference to determine the origin</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – position where the camera will be placed, with respect to the selected environment origin</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – target location that will be at the center of the camera, with respect to the selected environment</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if viewer has closed, false otherwise</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_camera_transform">
<span class="sig-name descname"><span class="pre">set_camera_transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><span class="pre">Transform</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_camera_transform" title="Permalink to this definition"></a></dt>
<dd><p>Sets camera transform with respect to the attached rigid body.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Camera</em>) – Viewer Handle.</p></li>
<li><p><strong>param2</strong> (<em>Env</em>) – refEnv environment of reference to determine the origin</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a>) – transform from rigid body to camera position</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if viewer has closed, false otherwise</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_dof_actuation_force_tensor">
<span class="sig-name descname"><span class="pre">set_dof_actuation_force_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_dof_actuation_force_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Sets DOF actuation forces to values provided for all DOFs in simulation.
Force is in Newton for linear DOF. For revolute DOF, force is torque in Nm.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_dof_actuation_force_tensor_indexed" title="isaacgym.gymapi.Gym.set_dof_actuation_force_tensor_indexed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_dof_actuation_force_tensor_indexed</span></code></a> for indexed version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing forces</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_dof_actuation_force_tensor_indexed">
<span class="sig-name descname"><span class="pre">set_dof_actuation_force_tensor_indexed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_dof_actuation_force_tensor_indexed" title="Permalink to this definition"></a></dt>
<dd><p>Sets DOF actuation forces to values provided for given actor indices.
Full DOF actuation force buffer should be provided for all actors.
Force is in Newton for linear DOF. For revolute DOF, force is torque in Nm.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing DOF actuations states</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing actor indices</p></li>
<li><p><strong>param4</strong> (<em>int</em>) – Size of actor indices buffer</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_dof_position_target_tensor">
<span class="sig-name descname"><span class="pre">set_dof_position_target_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_dof_position_target_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Sets DOF position targets to values provided for all DOFs in simulation.
For presimatic DOF, target is in meters. For revolute DOF, target is in radians.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_dof_position_target_tensor_indexed" title="isaacgym.gymapi.Gym.set_dof_position_target_tensor_indexed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_dof_position_target_tensor_indexed</span></code></a> for indexed version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing DOF position targets</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_dof_position_target_tensor_indexed">
<span class="sig-name descname"><span class="pre">set_dof_position_target_tensor_indexed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_dof_position_target_tensor_indexed" title="Permalink to this definition"></a></dt>
<dd><p>Sets DOF position targets to values provided for given actor indices.
Full DOF position targets buffer should be provided for all actors.
For presimatic DOF, target is in meters. For revolute DOF, target is in radians.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing DOF position targets</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing actor indices</p></li>
<li><p><strong>param4</strong> (<em>int</em>) – Size of actor indices buffer</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_dof_state_tensor">
<span class="sig-name descname"><span class="pre">set_dof_state_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_dof_state_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Sets DOF state buffer to values provided for all DOFs in simulation.
DOF state includes position in meters for prismatic DOF, or radians for revolute DOF, and velocity in m/s for prismatic DOF and rad/s for revolute DOF.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_dof_state_tensor_indexed" title="isaacgym.gymapi.Gym.set_dof_state_tensor_indexed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_dof_state_tensor_indexed</span></code></a> for indexed version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing DOF states</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_dof_state_tensor_indexed">
<span class="sig-name descname"><span class="pre">set_dof_state_tensor_indexed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_dof_state_tensor_indexed" title="Permalink to this definition"></a></dt>
<dd><p>Sets DOF state buffer to values provided for given actor indices.
Full DOF state buffer should be provided for all actors.
DOF state includes position in meters for prismatic DOF, or radians for revolute DOF, and velocity in m/s for prismatic DOF and rad/s for revolute DOF.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing DOF states</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing actor indices</p></li>
<li><p><strong>param4</strong> (<em>int</em>) – Size of actor indices buffer</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_dof_target_position">
<span class="sig-name descname"><span class="pre">set_dof_target_position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_dof_target_position" title="Permalink to this definition"></a></dt>
<dd><p>Sets a target position for the DOF. if the DOF is prismatic, the target is in meters. if the DOF is revolute, the target is in radians.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>DOF</em>) – DOF Handle</p></li>
<li><p><strong>param3</strong> (<em>float</em>) – position</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_dof_target_velocity">
<span class="sig-name descname"><span class="pre">set_dof_target_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_dof_target_velocity" title="Permalink to this definition"></a></dt>
<dd><p>Sets a target velocity for the DOF. if the DOF is prismatic, the target is in m/s. if the DOF is revolute, the target is in rad/s.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_dof_velocity_target_tensor" title="isaacgym.gymapi.Gym.set_dof_velocity_target_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_dof_velocity_target_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>DOF</em>) – DOF Handle</p></li>
<li><p><strong>param3</strong> (<em>float</em>) – velocity</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_dof_velocity_target_tensor">
<span class="sig-name descname"><span class="pre">set_dof_velocity_target_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_dof_velocity_target_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Sets DOF velocity targets to values provided for all DOFs in simulation
For prismatic DOF, target is in m/s. For revolute DOF, target is in rad/s.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_dof_velocity_target_tensor_indexed" title="isaacgym.gymapi.Gym.set_dof_velocity_target_tensor_indexed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_dof_velocity_target_tensor_indexed</span></code></a> for indexed version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing DOF velocity targets</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_dof_velocity_target_tensor_indexed">
<span class="sig-name descname"><span class="pre">set_dof_velocity_target_tensor_indexed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_dof_velocity_target_tensor_indexed" title="Permalink to this definition"></a></dt>
<dd><p>Sets DOF velocity targets to values provided for given actor indices.
Full DOF velocity target buffer should be provided for all actors.
For prismatic DOF, target is in m/s. For revolute DOF, target is in rad/s.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing DOF velocity targets</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing actor indices</p></li>
<li><p><strong>param4</strong> (<em>int</em>) – Size of actor indices buffer</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_env_rigid_body_states">
<span class="sig-name descname"><span class="pre">set_env_rigid_body_states</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><span class="pre">RigidBodyState</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_env_rigid_body_states" title="Permalink to this definition"></a></dt>
<dd><p>Sets states for simulation’s Rigid Bodies. see <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyState</span></code></a></p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – List of rigid body states</p></li>
<li><p><strong>param2</strong> – flags for the state to obtain, can be velocities (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_VEL" title="isaacgym.gymapi.STATE_VEL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_VEL</span></code></a>), positions(<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_POS" title="isaacgym.gymapi.STATE_POS"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_POS</span></code></a>) or both (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_ALL" title="isaacgym.gymapi.STATE_ALL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_ALL</span></code></a>)</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_joint_target_position">
<span class="sig-name descname"><span class="pre">set_joint_target_position</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_joint_target_position" title="Permalink to this definition"></a></dt>
<dd><p>Sets a target position for the joint. if the joint is prismatic, the target is in meters. if the joint is revolute, the target is in radians.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Joint</em>) – Joint Handle</p></li>
<li><p><strong>param3</strong> (<em>float</em>) – position</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_joint_target_velocity">
<span class="sig-name descname"><span class="pre">set_joint_target_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_joint_target_velocity" title="Permalink to this definition"></a></dt>
<dd><p>Sets a target velocity for the joint. if the joint is prismatic, the target is in m/s. if the joint is revolute, the target is in rad/s.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Joint</em>) – Joint Handle</p></li>
<li><p><strong>param3</strong> (<em>float</em>) – velocity</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_light_parameters">
<span class="sig-name descname"><span class="pre">set_light_parameters</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg4</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_light_parameters" title="Permalink to this definition"></a></dt>
<dd><p>Sets light parameters</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – index to the light to be changed.</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – intensity intensity of the light focus in the range [0,1] per channel, in RGB.</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – ambient intensity of the ambient light in the range [0,1] per channel, in RGB.</p></li>
<li><p><strong>param5</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – direction direction of the light focus</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_particle_state_tensor">
<span class="sig-name descname"><span class="pre">set_particle_state_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_particle_state_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Sets particle states buffer to values provided. Flex backend only.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_particle_state_tensor_indexed" title="isaacgym.gymapi.Gym.set_particle_state_tensor_indexed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_particle_state_tensor_indexed</span></code></a> for indexed version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing particle states</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_particle_state_tensor_indexed">
<span class="sig-name descname"><span class="pre">set_particle_state_tensor_indexed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_particle_state_tensor_indexed" title="Permalink to this definition"></a></dt>
<dd><p>Sets particle state buffer to values provided for given actor indices. Flex backend only.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing particle states</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing actor indices</p></li>
<li><p><strong>param4</strong> (<em>int</em>) – Size of actor indices buffer</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_pneumatic_pressure">
<span class="sig-name descname"><span class="pre">set_pneumatic_pressure</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_pneumatic_pressure" title="Permalink to this definition"></a></dt>
<dd><p>Sets pressure for selected actuator. the pressure value is clamped between 0 and actuator max pressure.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>SoftActuator</em>) – Soft Actuator Handle</p></li>
<li><p><strong>param4</strong> (<em>float</em>) – pressure, in Pa.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_pneumatic_pressure_tensor">
<span class="sig-name descname"><span class="pre">set_pneumatic_pressure_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_pneumatic_pressure_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Sets pneumatic pressure buffer to values provided. Flex backend only.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_pneumatic_pressure_tensor_indexed" title="isaacgym.gymapi.Gym.set_pneumatic_pressure_tensor_indexed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_pneumatic_pressure_tensor_indexed</span></code></a> for indexed version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing pneumatic pressures</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_pneumatic_pressure_tensor_indexed">
<span class="sig-name descname"><span class="pre">set_pneumatic_pressure_tensor_indexed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_pneumatic_pressure_tensor_indexed" title="Permalink to this definition"></a></dt>
<dd><p>Sets pneumatic pressure buffer to values provided for given actor indices. Flex backend only.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing pneumatic pressure</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing actor indices</p></li>
<li><p><strong>param4</strong> (<em>int</em>) – Size of actor indices buffer</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_pneumatic_target">
<span class="sig-name descname"><span class="pre">set_pneumatic_target</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">float</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_pneumatic_target" title="Permalink to this definition"></a></dt>
<dd><p>Sets target pressure for selected actuator. the target value is clamped between 0 and actuator max pressure.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>SoftActuator</em>) – Soft Actuator Handle</p></li>
<li><p><strong>param4</strong> (<em>float</em>) – pressure target, in Pa.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_pneumatic_target_tensor">
<span class="sig-name descname"><span class="pre">set_pneumatic_target_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_pneumatic_target_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Sets pneumatic target buffer to values provided. Flex backend only.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_pneumatic_target_tensor_indexed" title="isaacgym.gymapi.Gym.set_pneumatic_target_tensor_indexed"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_pneumatic_target_tensor_indexed</span></code></a> for indexed version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing pneumatic targets</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_pneumatic_target_tensor_indexed">
<span class="sig-name descname"><span class="pre">set_pneumatic_target_tensor_indexed</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_pneumatic_target_tensor_indexed" title="Permalink to this definition"></a></dt>
<dd><p>Sets pneumatic target buffer to values provided for given actor indices. Flex backend only.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing pneumatic targets</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing actor indices</p></li>
<li><p><strong>param4</strong> (<em>int</em>) – Size of actor indices buffer</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_rigid_angular_velocity">
<span class="sig-name descname"><span class="pre">set_rigid_angular_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_rigid_angular_velocity" title="Permalink to this definition"></a></dt>
<dd><p>Sets Angular Velocity for Rigid Body.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.set_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Body</em>) – Rigid Body Handle</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – angular velocity.</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_rigid_body_color">
<span class="sig-name descname"><span class="pre">set_rigid_body_color</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.MeshType" title="isaacgym.gymapi.MeshType"><span class="pre">MeshType</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg4</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_rigid_body_color" title="Permalink to this definition"></a></dt>
<dd><p>Sets color of rigid body</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – index of rigid body to be set</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.MeshType" title="isaacgym.gymapi.MeshType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.MeshType</span></code></a>) – selection of what mesh is to be set</p></li>
<li><p><strong>param5</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – Vector containing RGB values in range [0,1]</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_rigid_body_segmentation_id">
<span class="sig-name descname"><span class="pre">set_rigid_body_segmentation_id</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_rigid_body_segmentation_id" title="Permalink to this definition"></a></dt>
<dd><p>Sets segmentation ID for rigid body</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – index of rigid body to be set</p></li>
<li><p><strong>param4</strong> (<em>uint32_t</em>) – segmentation ID for selected body</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_rigid_body_state_tensor">
<span class="sig-name descname"><span class="pre">set_rigid_body_state_tensor</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><span class="pre">Tensor</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_rigid_body_state_tensor" title="Permalink to this definition"></a></dt>
<dd><p>Sets rigid body state buffer to values provided for all rigid bodies in simulation. Flex backend only.
State for each rigid body should contain position([0:3]), rotation([3:7]), linear velocity([7:10]), and angular velocity([10:13]).</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Tensor" title="isaacgym.gymapi.Tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Tensor</span></code></a>) – Buffer containing rigid body states</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_rigid_body_texture">
<span class="sig-name descname"><span class="pre">set_rigid_body_texture</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.MeshType" title="isaacgym.gymapi.MeshType"><span class="pre">MeshType</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg4</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_rigid_body_texture" title="Permalink to this definition"></a></dt>
<dd><p>Sets texture on Rigid Body</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle.</p></li>
<li><p><strong>param2</strong> (<em>Actor</em>) – Actor Handle</p></li>
<li><p><strong>param3</strong> (<em>int</em>) – index of rigid body to be set</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.MeshType" title="isaacgym.gymapi.MeshType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.MeshType</span></code></a>) – selection of what mesh is to be set</p></li>
<li><p><strong>param5</strong> (<em>Texture</em>) – texture handle for the selected texture</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_rigid_linear_velocity">
<span class="sig-name descname"><span class="pre">set_rigid_linear_velocity</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_rigid_linear_velocity" title="Permalink to this definition"></a></dt>
<dd><blockquote>
<div><p>Sets Linear Velocity for Rigid Body.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.set_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
</div></blockquote>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Body</em>) – Rigid Body handle</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – linear velocity</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_rigid_transform">
<span class="sig-name descname"><span class="pre">set_rigid_transform</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><span class="pre">Transform</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_rigid_transform" title="Permalink to this definition"></a></dt>
<dd><blockquote>
<div><p>Sets Transform for Rigid Body.</p>
<p>See <a class="reference internal" href="#isaacgym.gymapi.Gym.set_rigid_body_state_tensor" title="isaacgym.gymapi.Gym.set_rigid_body_state_tensor"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Gym.set_rigid_body_state_tensor</span></code></a> for new tensor version of this API.</p>
</div></blockquote>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Env</em>) – Environment Handle</p></li>
<li><p><strong>param2</strong> (<em>Body</em>) – Rigid Body handle</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Transform" title="isaacgym.gymapi.Transform"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Transform</span></code></a>) – Transform</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_sim_device">
<span class="sig-name descname"><span class="pre">set_sim_device</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_sim_device" title="Permalink to this definition"></a></dt>
<dd><p>Sets sim compute device to be the current CUDA device.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_sim_params">
<span class="sig-name descname"><span class="pre">set_sim_params</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.SimParams" title="isaacgym.gymapi.SimParams"><span class="pre">SimParams</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_sim_params" title="Permalink to this definition"></a></dt>
<dd><p>Sets simulation Parameters. See <a class="reference internal" href="struct_py.html#isaacgym.gymapi.SimParams" title="isaacgym.gymapi.SimParams"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SimParams</span></code></a></p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.SimParams" title="isaacgym.gymapi.SimParams"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.SimParams</span></code></a>) – simulation parameters</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_sim_rigid_body_states">
<span class="sig-name descname"><span class="pre">set_sim_rigid_body_states</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">numpy.ndarray</span><span class="p"><span class="pre">[</span></span><a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><span class="pre">RigidBodyState</span></a><span class="p"><span class="pre">]</span></span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_sim_rigid_body_states" title="Permalink to this definition"></a></dt>
<dd><p>Sets states for simulation’s Rigid Bodies. see <a class="reference internal" href="struct_py.html#isaacgym.gymapi.RigidBodyState" title="isaacgym.gymapi.RigidBodyState"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.RigidBodyState</span></code></a></p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p></li>
<li><p><strong>param2</strong> (<em>int</em>) – List of rigid body states</p></li>
<li><p><strong>param2</strong> – flags for the state to obtain, can be velocities (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_VEL" title="isaacgym.gymapi.STATE_VEL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_VEL</span></code></a>),
positions(<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_POS" title="isaacgym.gymapi.STATE_POS"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_POS</span></code></a>) or both (<a class="reference internal" href="const_py.html#isaacgym.gymapi.STATE_ALL" title="isaacgym.gymapi.STATE_ALL"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.STATE_ALL</span></code></a>)</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.set_usd_export_root">
<span class="sig-name descname"><span class="pre">set_usd_export_root</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">UsdExporter</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">bool</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.set_usd_export_root" title="Permalink to this definition"></a></dt>
<dd><p>Set USD export directory of a USD exporter</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Exporter</em>) – USD Exporter Handle</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – path the root directory path (pass “.” for current working directory)</p></li>
</ul>
</dd>
<dt class="field-even">Returns<span class="colon">:</span></dt>
<dd class="field-even"><p>true if operation was succesful, false otherwise.</p>
</dd>
<dt class="field-odd">Return type<span class="colon">:</span></dt>
<dd class="field-odd"><p>bool</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.simulate">
<span class="sig-name descname"><span class="pre">simulate</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.simulate" title="Permalink to this definition"></a></dt>
<dd><p>Steps the simulation by one time-step of dt, in seconds, divided in n substeps</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.start_access_image_tensors">
<span class="sig-name descname"><span class="pre">start_access_image_tensors</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.start_access_image_tensors" title="Permalink to this definition"></a></dt>
<dd><p>Allows access to image tensors. Transfers data from all image tensors from the GPU to memory</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.step_graphics">
<span class="sig-name descname"><span class="pre">step_graphics</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.step_graphics" title="Permalink to this definition"></a></dt>
<dd><p>Update graphics of the simulator</p>
<p>Updates the simulation’s graphics. If one is displaying the simulation through a viewer, this method should be called in advance to obtain the latest graphics state.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.subscribe_viewer_keyboard_event">
<span class="sig-name descname"><span class="pre">subscribe_viewer_keyboard_event</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.KeyboardInput" title="isaacgym.gymapi.KeyboardInput"><span class="pre">KeyboardInput</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.subscribe_viewer_keyboard_event" title="Permalink to this definition"></a></dt>
<dd><p>Subscribes an action to a keyboard event. Each action keeps a list of mappings. This function push the mapping to the end of the list.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.KeyboardInput" title="isaacgym.gymapi.KeyboardInput"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.KeyboardInput</span></code></a>) – keyboard input to subscribe to</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – name of the action to be mapped</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.subscribe_viewer_mouse_event">
<span class="sig-name descname"><span class="pre">subscribe_viewer_mouse_event</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.MouseInput" title="isaacgym.gymapi.MouseInput"><span class="pre">MouseInput</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.subscribe_viewer_mouse_event" title="Permalink to this definition"></a></dt>
<dd><p>Subscribes an action to a mouse event. Each action keeps a list of mappings. This function push the mapping to the end of the list.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p></li>
<li><p><strong>param2</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.MouseInput" title="isaacgym.gymapi.MouseInput"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.MouseInput</span></code></a>) – mouse input to subscribe to</p></li>
<li><p><strong>param3</strong> (<em>str</em>) – name of the action to be mapped</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.sync_frame_time">
<span class="sig-name descname"><span class="pre">sync_frame_time</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.sync_frame_time" title="Permalink to this definition"></a></dt>
<dd><p>Throttles simulation speed to real time.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle</p>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.viewer_camera_look_at">
<span class="sig-name descname"><span class="pre">viewer_camera_look_at</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><span class="pre">Vec3</span></a></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.viewer_camera_look_at" title="Permalink to this definition"></a></dt>
<dd><p>Positions the viewer camera to look at a specified target location</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p></li>
<li><p><strong>param2</strong> (<em>Env</em>) – refEnv environment of reference to determine the origin</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – position where the camera will be placed, with respect to the selected environment origin</p></li>
<li><p><strong>param4</strong> (<a class="reference internal" href="struct_py.html#isaacgym.gymapi.Vec3" title="isaacgym.gymapi.Vec3"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.Vec3</span></code></a>) – target location that will be at the center of the camera, with respect to the selected environment</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.write_camera_image_to_file">
<span class="sig-name descname"><span class="pre">write_camera_image_to_file</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Sim</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Env</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg2</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">int</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg3</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="enum_py.html#isaacgym.gymapi.ImageType" title="isaacgym.gymapi.ImageType"><span class="pre">ImageType</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg4</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.write_camera_image_to_file" title="Permalink to this definition"></a></dt>
<dd><p>Writes image from camera directly to a PNG file.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Sim</em>) – Simulation Handle.</p></li>
<li><p><strong>param2</strong> (<em>Camera</em>) – Camera Handle</p></li>
<li><p><strong>param3</strong> (<a class="reference internal" href="enum_py.html#isaacgym.gymapi.ImageType" title="isaacgym.gymapi.ImageType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ImageType</span></code></a>) – type of image to obtain from camera. see <a class="reference internal" href="enum_py.html#isaacgym.gymapi.ImageType" title="isaacgym.gymapi.ImageType"><code class="xref py py-obj docutils literal notranslate"><span class="pre">isaacgym.gymapi.ImageType</span></code></a></p></li>
<li><p><strong>param4</strong> (<em>str</em>) – filename string with the name of the file to be saved</p></li>
</ul>
</dd>
</dl>
</dd></dl>

<dl class="py method">
<dt class="sig sig-object py" id="isaacgym.gymapi.Gym.write_viewer_image_to_file">
<span class="sig-name descname"><span class="pre">write_viewer_image_to_file</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">self</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><a class="reference internal" href="#isaacgym.gymapi.Gym" title="isaacgym.gymapi.Gym"><span class="pre">Gym</span></a></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg0</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">Viewer</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">arg1</span></span><span class="p"><span class="pre">:</span></span><span class="w"> </span><span class="n"><span class="pre">str</span></span></em><span class="sig-paren">)</span> <span class="sig-return"><span class="sig-return-icon">&#x2192;</span> <span class="sig-return-typehint"><span class="pre">None</span></span></span><a class="headerlink" href="#isaacgym.gymapi.Gym.write_viewer_image_to_file" title="Permalink to this definition"></a></dt>
<dd><p>Outputs image obtained from a viewer directly to a PNG file.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters<span class="colon">:</span></dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>param1</strong> (<em>Viewer</em>) – Viewer Handle.</p></li>
<li><p><strong>param2</strong> (<em>str</em>) – filename string with the name of the file to be saved</p></li>
</ul>
</dd>
</dl>
</dd></dl>

</dd></dl>

</section>


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